Coyote III Rover

A mobile modular micro rover able to act as a shuttle rover performing autonomous operations. The rover is equipped with its own power source, on-board sensor suite and computer it is able to perform autonomous exploration tasks. The communication subsystem allows to cooperate with other systems. Coyote III is equipped with two standardized electro-mechanical interfaces, allowing to dock additional payload elements, such as a manipulator or standardized payload items. Also, the rover is able to carry and handle standardized payload items (PLI), therefore, it is equipped with two electromechanical interfaces (EMI) allowing to dock PLIs to the rover and add a modular manipulation device to the system.

Specifications

Length994 mm
WIdth584 mm
Depth380 mm
Mass12.5 kg
4-Wheel driveRobodrive ILM 50×08 bldc-motor
Wheel torquenominal 22.4 Nm
Speedmax. 1.3 m/s
ChassisPassive roll joint at rear axis
WheelsHybrid legged-wheels
HousingCFRP housing paired with alu-minium structures
On-Board Data Handling
On-board computerIntelCore i7-3517UE, 1.7 GHz
Motor controlDistributed FPGA based contro
Communications
Mobile access point2.4 GHz, 802.11n
Remote controlBluetooth
Remote stop868 MHz XBee-PRO
Power supplyLiPo primary battery
44 V, 4.5 Ah
Power consumption∼75 W
Thermal Control
Front compartmentsActive control with healthmonitoring
Driving unitsPassive control with healthmonitoring
Navigation Sensor System
Laser range finderHokuyo UST-20LX
Cameratiltable by±180◦
Basler Ace acA2040-25gc
2048×2048 px. 25fps
FoV: 79.7◦horizontal
IMUXsens MTi-300 AHRS
Embodied sensors:Absolute encoders

Overview

The rover is equipped with its own power source, on-board sensor suite and computer it is able to perform autonomous exploration tasks. The communication subsystem allows to cooperate with other systems. Coyote III is equipped with two standardized electro-mechanical interfaces, allowing to dock additional payload elements, such as a manipulator or standardized payload items.

Also, the rover is able to carry and handle standardized payload items (PLI), therefore, it is equipped with two electromechanical interfaces (EMI) allowing to dock PLIs to the rover and add a modular manipulation device to the system.

Rover design

Front body 

The design of the rover is based on a lightweight construction which uses carbon fibre reinforced plastic (CFRP) paired with lightweight aluminium structures. The front body includes the main housing of Coyote III, as well as the driving units of the front wheels. Waterjet cutted CFRP sheets have been inserted as ribbings to improve the stability and statics of the monocoque. Additional aluminium mounts and inserts are attached to the  CFRP  housing to serve as mount points for the front driving units as well as the centre body and the subsystem compartments. Strong aluminium mounts able to carry the whole rover weight are been inserted at each side of the payload bay to provide connection points for additional payload.  

Centre Body 

The centre body is based on an aluminium frame design and contains three framework elements,two side elements, connecting to the front body and a rear element providing an assembly flange to the rear body. The centre body is designated to serve as mounting point for additional payload to Coyote III as well.

Rear Body 

The rear body is a 3D-milled aluminium structure based on a centre T-link and two tube-like extensions for connecting the rear driving units. The T-link connects to the centre body and has an integrated roll joint, allowing  for it to tilt the whole rear axis in order to keep ground contact with all four wheels while driving over rough terrain.


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References

Describes the design considerations based on the lessons learned form the Coyote II development. An outline of the reference mission concept is given and the general development concept and design consideration are presented. The modularity concept for Coyote III is lined out. The manipulator is co

R Sonsalla, J Bessekon Akpo, and F Kirchner. - 2015.

The terrestrial test platform Coyote II is presented. The paper focuses on the mechanical design and evaluation of the Coyote II rover. Lastly, the software architecture of the rover is outlined.

R Sonsalla, Y Nevatia, Fritsche, et al. - Conference: international Symposium on Artificial Intelligence, Robotics and Automation in Space, June 2014.

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