PRELIMINARY DESIGN OF LOCOMOTION SYSTEM FOR A LUNAR PRESSURIZED ROVER

This thesis presents the preliminary design of a mobility system for a pressurized lunar rover. In the context of future long-duration lunar missions, the implementation of a robust and reliable locomotion system is essential to enable the exploration and operations of pressurized rovers across the Moon’s challenging terrain. This work starts with a comprehensive overview of lunar environmental conditions and a comparative analysis of current surface mobility platforms. From this basis, mission requirements are derived in accordance with \ac{ECSS} standards and translated into functional specifications for the mobility subsystem. A terramechanics-based modelling approach is employed to describe the complex interaction between flexible wheels and lunar regolith, considering static and dynamic soil responses. Parametric simulations are used to investigate the influence of wheel geometry on key performance indicators such as sinkage, traction, and driving resistances. Preliminary results demonstrate the trade-offs involved in wheel design and highlight optimal configurations for enhancing mobility efficiency on the Moon. The thesis is further developed to include the initial sizing of the entire locomotion architecture, including drivetrain sizing, suspension and steering mechanisms, in order to provide a fully integrated and mission-ready mobility solution.