A Small, Wheeled Mobile Device for Deployment of Surface and Subsurface Instruments and Sampling Devices on Planets

In the framework of the Technological Research and Development Program (TRP) of the European Space Agency (ESA), efforts have been under way to prepare key technologies for future small mobile vehicles to be used on planetary landing missions. One of these is the MIDD activity (Mobile Instrument Deployment Device) which aims at producing mechanical components and system concepts for such vehicles. MIDD has been focusing on wheeled locomotion and, accordingly, the development of wheels suitable for providing the specified tractive performance on planetary surface soils is one of the key areas of current work. Specifically, the objectives of the MIDD activity are: development of mechanical components for small wheeled devices; reliable prediction of locomotion performance on planetary soils at reduced gravity; rational sizing of locomotion system for small wheeled vehicles; demonstration of the viability of a 4 kg class vehicle for surface and subsurface science on Mars. In the present paper, the results of previous component development work are first summarized, followed by an outline of the selected reference mission scenario for a small wheeled device. Subsequently, the system design for the overall vehicle is described for a specified tractive performance and obstacle negotiation capability. Finally, the production and testing status of a Breadboard Model of the device is presented.