Conceptual Design of the Persian Glory Mars Navigator (PGMN): An Advanced Rover for Future Surface Exploration

This‍‌‍‍‌ document presents the concept design of the Persian Glory Mars Navigator (PGMN), the main mobile exploratory unit of the Persian Glory mission to Mars. The PGMN was designed as a high-performing and smart rover that would be able to conduct in-depth geological surveys and would be able to navigate the Mars surface even if it was of the complex terrain by itself. One of the innovations of the design is the sophisticated two-arm robotic manipulation system that enables the performance of high-precision tasks such as sample acquisition, instrument deployment, and in-situ analysis. The system is equipped with a set of interchangeable tools, including a drill, a rock grinding tool. The PGMN design is a substantial step forward in the conception of a Martian rover emphasizing intelligent navigation, enhanced scientific payload integration, and operational resilience. Its creation lays down the groundwork for subsequent missions that are directly geared towards the overall objectives of scientific discovery and facilitating human exploration on Mars. The design concentrates on the key subsystems that make possible autonomous mobility and robotic manipulation in the harsh Martian environment. One of the major elements of the mobility system is its capability, which has been designed for stability and grip on different types of rugged, uneven surface, thus allowing the mission to reach areas of high geological value. As to perception and navigation, the PGMN is equipped with a mast that accommodates a set of navigation and panoramic cameras, which are the primary visual organs for terrain assessment and path planning. The design has been very diligent in taking into account the extreme conditions of the Martian environment, paying particular attention to the robustness of the mobility system, heat generation and dissipation during very cold or hot periods, and continuous power supply and demand. SolidWorks was used for structural and thermal performance validation of the mobility system. Besides this, the first control schemes for mobility and manipulation that were set up in MATLAB and which can pinpoint the exact move feasibility, serve as a proof of concept. The architecture of the PGMN is a major step forward in the design of a Martian rover platform, with an emphasis on mechanical strength, operational freedom, and subsystem integration. Its creation is a reliable and flexible base for scientific missions on the Martian surface in the ‍‌‍‍‌future.

本文件阐述了波斯荣耀火星探测任务的主力移动探测单元——波斯荣耀火星导航器（Persian Glory Mars Navigator，PGMN）的概念设计。该PGMN被设计为一款高性能智能漫游车，可开展深度地质勘测，且能够自主穿越复杂崎岖的火星地表。本设计的一大创新之处在于配备了精密双臂机器人操作系统，可执行样品采集、仪器部署、原位分析等高精度任务。该系统搭载了一套可更换工具组，包含钻孔工具与岩石研磨工具。PGMN的设计是火星漫游车概念设计的重大突破，其核心侧重智能导航、强化科学载荷集成能力与运行韧性，为后续以火星科学发现与助力人类火星探测为核心目标的任务奠定了基础。本设计聚焦于在严苛火星环境中实现自主移动与机器人操控的核心子系统。移动系统的核心设计要点之一，是针对各类崎岖不平地表优化的稳定性与抓附能力，可助力任务抵达高地质价值区域。在感知与导航方面，PGMN搭载了集成多台导航与全景相机的桅杆，这些相机是地形评估与路径规划的核心视觉单元。本设计充分考量了火星极端环境，重点优化了移动系统的鲁棒性、极端冷热工况下的热量生成与散逸机制，以及持续的供能与能耗平衡。已采用SolidWorks完成移动系统的结构与热性能验证。此外，基于MATLAB开发的首款移动与操控控制方案，可精准验证动作可行性，作为本概念设计的验证依据。PGMN的整体架构是火星漫游车平台设计的重大进阶，其核心侧重机械强度、操作自由度与子系统集成性，可为未来火星地表科学探测任务提供可靠且灵活的基础平台。