Design of Antarctic Meteorite Collection Rover Drivetrain and Chassis

This thesis presents the design and analysis of the drivetrain and chassis for a four wheel skid steer robotic rover intended to autonomously collect meteorites during Antarctic summer expeditions. Antarctica is the most productive meteorite recovery environment on Earth, with over 60% of all known meteorites having been collected there due to the continent's ice flow concentrating specimens on exposed blue ice fields. However, rising global temperatures are causing many meteorites to gradually sink into the ice, reducing their visibility and making traditional human-led collection methods less effective. To address this challenge, the rover is designed to operate reliably in extreme Antarctic conditions, including sub-freezing temperatures, high winds, low-traction ice surfaces, and steep terrain while maintaining a lightweight structure suitable for transport and field deployment. The drivetrain utilizes two brushless DC motors to provide high torque for low-speed operation, achieving a target ground speed of 2.5 mph. A belt-and-pulley system mechanically links the front and rear wheels on each side, to allow for skid steering on the ice. The chassis is a welded 6061 aluminum structure that was analyzed by finite element analysis. A double A-arm suspension system is implemented to improve ride stability and maintain wheel contact when traversing uneven Antarctic ice fields. The resulting design provides a structurally robust mobility platform capable of operating on uneven Antarctic terrain while supporting future autonomous sensing and navigation systems.