Mechanical Subsystem

Robotic Arm

We design and build a multiple degree-of-freedom robotic arm that should be capable of performing the following tasks: Lift/drop objects upto 5 kgs, Turn knobs, Push buttons, Open drawers , and other precise movements…
There is a variety of stuff we work towards in this subsystem: mechanisms, materials, easier and precise control, robustness

Suspension

The rover uses an entirely passive rocker-bogie suspension mechanism, which is tried and tested and thus
A novel 4-bar differential mechanism gives the chassis greater stability and also keeps it level while the rover traverses considerably rough terrain.
The suspension has been designed to climb over rocks of upto 0.5 metre high and traverse slopes excess of 50 degrees.
We are also designing an alternate 4-wheel suspension mechanism that uses differential steer as a backup to the current suspension.

Bio-assembly

Under the science task, the rover needs to collect the soil and rocks sample from multiple selected locations.
Soil sample acquisition is implemented as end effector to the robotic arm using drill based approach to collect sample from 10 cm depth, and double scoop based approach to scrape from the surface.
Soil sample is further distributed maintaining the contamination and functionality standards.
Sophisticated machinery is employed as aid for execution of on rover bio assay for living form detection.

Chassis

A robust chassis made using lightweight hollow aluminium pipes is compatible to carry the robotic arm and the bioassembly whilst carrying all the electrical components.
The links are so designed that there is no stress accumulation.
It is designed so that all the components mounted on it are modular and can be removed easily.

Wheels

The wheels are capable of traversing through Martian like terrains.
3-D printed wheel has been designed specifically to provide adequate traction and reduce the impact transfer to the suspension system.
The wheel hub design is compact and capable of load transfer while supporting the motor and its shaft.