Curiosity’s large size is an advantage on Mars because it allows the rover to roll over obstacles up to 25-inches (65 cm) high. However, the rover is programmed through its "fault protection limits" in its hazard avoidance software to avoid exceeding tilts of 30 degrees during its traverses.The rover rocker-bogie design allows the rover to go over obstacles (such as rocks) or through holes that are more than a wheel diameter (50 centimeters or about 20 inches) in size. Credit: NASA/JPL-Caltech/MSSS. The four-wheel steering also allows the rover to swerve and curve, making arcing turns. A bogie is a train undercarriage with six wheels that can swivel to curve along a track.The term "rocker" comes from the design of the differential, which keeps the rover body balanced, enabling it to "rock" up or down depending on the various positions of the multiple wheels. Compare that to a 200-horsepower car engine, consuming nearly 150,000-watts!Made of titanium tubing formed with the same process used to make high-end mountain bike frames.

Each wheel also has cleats, providing grip for climbing in soft sand and scrambling over rocks.The rover has a top speed on flat hard ground of 4 centimeters per second (a little over 1.5 inches per second).Managed by the Mars Exploration Program and the Jet Propulsion Laboratory for NASA’s Science Mission DirectorateMade of aluminum, with cleats for traction and curved titanium springs for springy supportOne full turn of a wheel with no slippage is about 62 inches (157 centimeters) of drivingCapable of rolling over rocks the size of one of its wheels The suspension also minimizes rover tilt as it drives, keeping it more stable.The rover's rocker-bogie suspension enables the rover to drive over obstacles (such as rocks) or through depressions that are as large as the rover's wheel (52.5-centimeters, 20.7-inches). The engineers must try to think of every possible scenario these wheels might encounter on Mars, from roaming over sharp rocks to slipping in rippled sand dunes. Two specific types of rovers have been to the surface of another planet: the Lunokhod rovers using an eight wheel design and three Mars rovers using the six wheel rocker bogie suspension. One full turn of the wheels with no slippage drives the rover 1.65 meters (65-inches). While the large number of wheels increases the stability over uneven terrain, it also increases complexity in the design. The slow pace is energy efficient consuming less than 200-watts. The Mars 2020 Perseverance Rover Wheels and Legs. The suspension system is how the wheels are connected to and interact with the rover body.The term "bogie" comes from old railroad systems. If one side of the rover were to travel over a rock, the rover body would go out of balance without a "differential" or "rocker," which helps balance the angle the rover is in at any given time. Of most importance when creating a suspension system is how to prevent the rover from suddenly and dramatically changing positions while cruising over rocky terrain.

Enable the rover to drive over knee-high rocks as tall as 40-centimeters (15.75-inches). NASA’s Perseverance rover has six wheels made of aluminum designed to drive across sandy, rocky, and hilly Martian terrain. The four-wheel steering also allows the rover to swerve and curve, making arching turns.The design of the suspension system for the wheels is based on heritage from the "rocker-bogie" system on the Pathfinder and Mars Exploration Rover missions. The Perseverance rover has six wheels, each with its own individual motor.When driving over the uneven Martian terrain, the suspension system maintains a relatively constant weight on each of the rover's wheels.

Each wheel has an aggressive tread composed of 48-grousers (or cleats), machined into its surface. The four-wheel steering also allows the rover to swerve and curve, making arching turns. The Mars Curiosity Rover Wheels and Legs. When one side of the rover goes up, the differential or rocker in the rover suspension system automatically makes the other side go down to even out the weight load on the six wheels. It's about the journey and the destinations along the way. In order to do that, they have simulated a Martian-type environment here on Earth.

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