Mars Rover Wheel Traction Device

My senior design team worked on implementing an active traction device to give the rover more traction in deep sand and steep incline environments.

I was responsible for the gearbox and gantry device that the wheel was mounted to. This device allowed the motor to mount to the drive axle of the wheel and let the servo wires in the rotating wheel to pass through a slip joint to the microcontroller. The gantry allowed the wheel to translate horizontally and vertically along the test frame.