Cheri lunar rover separation system optimized and validated by testing
Design and Experimental Validation of the Separation and Deployment System for the CHERI Lunar Micro-Rovers
Robotics
Summary
Getting small lunar rovers safely separated from their landers is tricky because they must survive launch vibrations and then push away correctly. The authors designed and tested a new system that holds and then pushes the rover off the lander using springs and a special release mechanism. Early tests showed some energy loss due to flexible parts, so they improved their design through simulations and hardware tweaks. After fixing vibration issues and reworking parts, the system was validated by physical tests that confirmed it works as expected for safe rover deployment.
What this means in practice
- •For planetary rover engineers: Build reliable rover separation systems that survive launch vibrations and deploy micro-rovers safely on the lunar surface using optimized spring ejection designs.
- •For space mission planners: Improve mission success by incorporating validated separation mechanisms that ensure rover clearance and reduce deployment risks during lunar landings.
Authors
Ahmet Mustafa Kangal, Oğuzhan Şahan, Teoman Efe Aycan, Görkem Egemen Güloğlu, Halil Ersin Söken, Ali Emre Turgut, Uluç Saranlı, Mustafa Mert Ankaralı
Abstract
Reliable separation mechanisms are critical for planetary micro-rovers, which must withstand launch vibrations and then eject the vehicle clear of the lander. This paper presents the design, optimization, and testing of the separation system of the CHERI (Challenging Environment Exploration Rovers for Intelligence) lunar micro-rovers. Sized for a 5 kg vehicle, the assembly comprises an aluminum ground plate, a central non-explosive hold-down and release mechanism, and an asymmetric four-spring ejection array. Initial separation trials revealed a velocity deficit caused by energy absorption in the flexible wheel-legs and chassis during the ejection stroke. This loss was represented as equivalent chassis damping in a multi-body dynamic model, and the springs were re-optimized accordingly. Early hardware iterations failed vibration testing, first through spring jamming in the guide housings and then through a 34 Hz fundamental mode of the flat ground plate. A density-based topology optimization raised the fundamental frequency to 84 Hz, above the 70 Hz requirement of the lander, within a 1.6 kg mass budget. The final configuration passed acceptance-level sinusoidal vibration, random vibration, and shock testing without structural degradation. Separation tests with a weight-matched one-sixth mass model, tracked by optical motion capture, confirmed clearance of the lander and reproduced the simulated free flight to within the run-to-run variation of the measured ejection velocity. These tests further showed that landing outcome is dominated by touchdown and settling dynamics, indicating that the residual pitch rate is the main controllable design parameter and confirming self-righting recovery as an integral element of the deployment architecture.