Design of an All-Terrain Rover

Ever since the onset of robotics, humans have been finding increasingly clever ways to traverse harsher terrain. There have traditionally been two defined robotic locomotion methods: wheels and legs. This paper describes the design and construction process of a third, new type of All-Terrain Rover (ATR) that uses a hybrid design involving both wheels and legs. The ATR consists of four wheels, with six linear actuators extending radially in a hexagonal pattern from each wheel, as well as two heavy arm-like structures that dynamically alter the center of mass of the vehicle. This design gives the rover significant versatility, allowing it to adapt to both flat terrain (which it can traverse via wheels) and rugged terrain (through the motional flexibility provided by the leg-like actuators.) Using computer-aided design software, different iterations of the wheel were designed, laser cutted, and constructed from baltic birch wood. A prototype of the rover has been fully assembled and is ready for testing.