Statistical evaluation of a robotic six-wheel structures mechanism based on motion simulation

In this work, a Mars rover is used to collect results on overcoming some of the obstacles that may be encountered in a Martian mission. These rovers are primarily used to gather information on the surface of Mars about past water activity. Therefore, the ability to overcome an unknown set of obstacles and how its function in different scenarios is vital. The aim of this work is to compare two proposed mechanisms for six-wheeled robotic structures through descriptive statistics and correlation test. As main results it was found a strong relation between the contact force between wheels and obstacle with the torque of the motors. Concluding that structure 1 has better performed in linear velocity and structure 2 use his independent links are used to reduce the contact force.