Transforming Chassis

Animation of Wheel deployment

Expanding and Contracting Chassis

The chassis, or frame of Nomad transforms from a compact positon to a wider one. The wide position makes Nomad more stable and keeps Nomad from tipping over on slopes.

Four Wheel Drive

Nomad features a four wheel drive, four wheel steering locomotion system to negotiate the rocky landscape of the Atacama. Nomad's wheels can fold in close to it's body to fit into a rocket, then expand to give it added stability.

Suspension
Did you notice how the wheels in the picture to the right are at different levels? The suspension system allows the wheels to raise and lower independently of each other so Nomad will stay level on rocky surfaces. A modified rocker bogey suspension system evenly distributes ground pressure over the four wheels to maximize traction. Independently controlled drive motors in each allow the navigation software greater control.

Four Wheel Steering

The same mechanism is used to steer Nomad. The chassis bars move the wheels into the correct position to turn the robot left or right.

Want to see how it works? Try it yourself...

Stand on one foot.
Now try pinning your two feet close together.
Finally, spread your feet and bend your knees.

Which position feels most stable?

This is how Nomad works. If the terrain is rocky or unstable, it spreads out its chassis.

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Last Modified on: Thu Jun 19, 1997