Fundamental considerations for the design of a planetary rover

Outlines the fundamental considerations for a planetary rover. First, shapes which utilize limitless rotation such as wheels and crawlers, legged shapes, and articulated body shapes were compared, and it was found that the wheel type is currently the optimum for a planetary rover. Next, the authors study specific methods for configuring planetary rovers with one, two, and three wheels, which is a topic that has not been studied much before, and in particular, the authors indicate that it is effective to equip these vehicles with manipulator arms and make joint use of the arm for movement. The authors also study a four-wheel rover, and propose a rhomboid four wheels vehicle arrangement as a mechanism to manifest terrain adaptability comparative to the six wheels vehicle.