Tytuł: Design and Implementation of an Active Self-Leveling Chassis for a Mobile
Exploration Rover

Autorzy: Michał Lasak, Maja Rudnicka, Kamil Moszumański, Franciszek Borgosz, Dariusz Myszor

Konferencja: International Students Scientific Conference TalentDetector2026_Winter

Abstrakt:

This paper presents the design specification and the initial proof-of-concept implemen-
tation of an active self-leveling chassis intended for a mobile rover operating on uneven planetary
terrain. The project is motivated by the stringent requirements of in-situ operations, specifically
subsurface sample collection using a drilling mechanism. Standard mobility systems often result
in a tilted chassis when traversing slopes, which poses significant risks to drilling tools, including
shear stress, borehole misalignment, and potential fracture. To validate the feasibility of mitigating
these risks, a simplified experimental testbed was constructed. The prototype utilizes four indepen-
dently controlled linear DC actuators to actively adjust the suspension geometry, ensuring the main
platform remains horizontal relative to the gravity vector. The paper details the mechanical con-
cept, the electronic control architecture based on high-current motor drivers, and the preliminary
testing of the fundamental leveling logic required for safe drilling operations.