The castor consists of two coaxial conventional wheels, connected to the chassis and connected with each other by a set micro-gears.
Once powered-up it stands erect and its wheeled chassis will be guided remotely by operators on earth.
A gear driven by a steering micromotor, is in the middle of the chassis.
The mobile robot has two fixed wheels at the front and rear of the chassis.
The chassis is made from composite material, which improves lightness and stiffness of the structure.
The rolling chassis module consists of brake, fuel, steering, and exhaust systems; suspension; and drive-line assembled to the frame.
The chassis system includes odometry through wheel encoders to provide feedback on the rover position, but these are subject to corruption through wheel slippage.
The chassis should allow adequate vertical travel of the wheels as they encounter obstacles.
