![]() ![]() These units are manipulated with the cen- tral manipulator arm. The rover provides four docking ports for immobile payload units. All DOF of the system have a high gear reduction and are self-inhibiting, thus the energy ef- ficiency of the wheeled system is kept even with the in- creased maneuverability. Note that the wheels displayed in the figure are mock-ups and are to be replaced with the intelligent wheel described in the next paragraph. Spring deflection elements in the chassis system allow for passive adaption to small irregularities in the ground. ![]() This allows for an active adaption to slopes and provides the possibility of lifting each wheel separately to free the rover from stuck situations or over- coming big obstacles. The legs can be actuated with six degrees of freedom (DOF). The chassis system con- sists of four independent ”legs” each of which is equipped with a wheel. The rover pro- vides an active chassis system. Basic Rover Design Concept Figure 2 shows the cur- rent CAD-design of the RIMRES rover. First the general rover design is presented, then the planned ”intelligent” wheel is discussed. This section deals with the wheeled rover design for the heterogeneous robotic team. Subsequently some of the immobile units of the overall system are outlined. First the mobile units, namely rover and scout are presented.
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