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The DISTANT Design for Remote Transmission and Steering Systems for Planetary Robotics

Cristina Luna, Alba Guerra, Almudena Moreno, Manuel Esquer, Willy Roa, Mateusz Krawczak, Robert Popela, Piotr Osica, Davide Nicolis

TL;DR

The paper presents DISTANT, a rover locomotion redesign that relocates traction and steering actuators into a thermally controlled warm box to enable robust long-distance planetary traversal. By employing a double wishbone suspension, cardan joint transmission, and capstan drive steering within a modular, protected architecture, the approach aims to achieve at least 50 km traverses without performance loss while improving thermal management and dust protection. A 1:3 scale breadboard validates the concept, detailing dust isolation, thermal control, and warm-box integration, along with a concrete validation plan and milestones toward a flight-ready system. The work demonstrates that centralized actuator protection, combined with tailored transmission strategies and modularity, can enhance rover reliability, maintenance accessibility, and mission-readiness for harsh environments.

Abstract

Planetary exploration missions require robust locomotion systems capable of operating in extreme environments over extended periods. This paper presents the DISTANT (Distant Transmission and Steering Systems) design, a novel approach for relocating rover traction and steering actuators from wheel-mounted positions to a thermally protected warm box within the rover body. The design addresses critical challenges in long-distance traversal missions by protecting sensitive components from thermal cycling, dust contamination, and mechanical wear. A double wishbone suspension configuration with cardan joints and capstan drive steering has been selected as the optimal architecture following comprehensive trade-off analysis. The system enables independent wheel traction, steering control, and suspension management whilst maintaining all motorisation within the protected environment. The design meets a 50 km traverse requirement without performance degradation, with integrated dust protection mechanisms and thermal management solutions. Testing and validation activities are planned for Q1 2026 following breadboard manufacturing at 1:3 scale.

The DISTANT Design for Remote Transmission and Steering Systems for Planetary Robotics

TL;DR

The paper presents DISTANT, a rover locomotion redesign that relocates traction and steering actuators into a thermally controlled warm box to enable robust long-distance planetary traversal. By employing a double wishbone suspension, cardan joint transmission, and capstan drive steering within a modular, protected architecture, the approach aims to achieve at least 50 km traverses without performance loss while improving thermal management and dust protection. A 1:3 scale breadboard validates the concept, detailing dust isolation, thermal control, and warm-box integration, along with a concrete validation plan and milestones toward a flight-ready system. The work demonstrates that centralized actuator protection, combined with tailored transmission strategies and modularity, can enhance rover reliability, maintenance accessibility, and mission-readiness for harsh environments.

Abstract

Planetary exploration missions require robust locomotion systems capable of operating in extreme environments over extended periods. This paper presents the DISTANT (Distant Transmission and Steering Systems) design, a novel approach for relocating rover traction and steering actuators from wheel-mounted positions to a thermally protected warm box within the rover body. The design addresses critical challenges in long-distance traversal missions by protecting sensitive components from thermal cycling, dust contamination, and mechanical wear. A double wishbone suspension configuration with cardan joints and capstan drive steering has been selected as the optimal architecture following comprehensive trade-off analysis. The system enables independent wheel traction, steering control, and suspension management whilst maintaining all motorisation within the protected environment. The design meets a 50 km traverse requirement without performance degradation, with integrated dust protection mechanisms and thermal management solutions. Testing and validation activities are planned for Q1 2026 following breadboard manufacturing at 1:3 scale.

Paper Structure

This paper contains 39 sections, 4 figures.

Table of Contents

  1. INTRODUCTION
  2. STATE OF THE ART
  3. Current Rover Locomotion Systems
  4. Transmission System Technologies
  5. Environmental Protection Challenges
  6. SYSTEM REQUIREMENTS
  7. Mission Requirements
  8. Physical Constraints
  9. Environmental Specifications
  10. DESIGN APPROACH
  11. Architectural Philosophy
  12. Transmission Strategy
  13. DESIGN TRADE-OFFS
  14. SELECTED DESIGN CONFIGURATION
  15. Architecture Overview
  16. ...and 24 more sections

Figures (4)

  • Figure 1: DISTANT Flight Model design
  • Figure 2: Selected DISTANT configuration showing double wishbone suspension with cardan joint wheel transmission and capstan drive steering system.
  • Figure 3: Dust isolation CAD design showing protective bellows, seals, and contamination barriers
  • Figure 4: Warm-Box design including active suspension and passive suspension systems, steering motorisation and traction motorisation