Georgia Crowther, Dimitrios (Dimi) Apostolopoulos, Stuart Heys
Journal of Terramechanics, Volume 100, 2022, Pages 11-24, ISSN 0022-4898
https://doi.org/10.1016/j.jterra.2021.11.008.(https://www.sciencedirect.com/science/article/pii/S0022489821000914)
Abstract: This paper follows ProtoInnovations’ development of a line of novel wheel concepts built with tensegrity principles for planetary mobility. The goal of these tensegrital wheels for enhanced planetary surface mobility is to exploit the geometric and mechanical attributes of tensegrity to mimic the compliant and load-distributing properties of a pneumatic tire using space-qualified methods and materials. In this paper we present our tensegrity design process and the evolution of our tensegrital wheel concepts. We conclude with an exploration of the tensegrital wheel’s potential with regards to planetary exploration applications and summarize considerations and improvements for future tensegrital wheel research.
Keywords: Tensegrity; Planetary mobility; Rovers; Wheel design; NASA