JPH08310462A - Travel car for space search - Google Patents

Abstract

PURPOSE: To provide a travel car for space search whose traveling route is almost not restricted by conditions on a celestial body surface in realizing an improvement in roadability in addition to being lighter in weight and compact in size. CONSTITUTION: Four driving wheels 4 are set up in all directions, front, rear and both sides. A front side turning arm 7 and a rear side turning arm 8 having each center supported by horizontal shafts 5 orthogonal with the front and rear shafts, are installed each in both front and rear ends of a car body 3, while a driving wheel 2F at the front side of the car body 3 and a driving wheel 2SR at the right of the body 3 are attached to both front and rear ends of the front side turning arm 7, and a driving wheel 2SL at the left of the car body 3 and a driving wheel 2R at the rear side of the car body 3 are attached to both front and rear ends of the rear side turning arm 8, and further an arm linkage mechanism 20, turning both these turning arms 7 and 8 in the opposite direction with each other to the car body 3, is installed in an interval between both these arms 7 and 8.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a space exploration vehicle used for exploring celestial bodies such as satellites and planets.

[0002]

2. Description of the Related Art This type of space exploration vehicle is required to have the function of being able to travel freely while overcoming irregularities such as rocks and steps on the surface of the celestial body to be explored. Most of the driving vehicles are 6-wheel type.

The space exploration vehicle is limited in weight and size according to the launch capability of the exploration rocket and the loading capacity of the spacecraft that carries the space exploration vehicle. Moreover, it is required to be small in size, and in order to satisfy this, FIG.
As shown in (a), research has been conducted on a four-wheeled space exploration vehicle 51 in which four wheels 52 are arranged in front of and behind the vehicle body 53 to reduce weight and size.

Regarding the six-wheel type vehicle for space exploration, for example, "Nikkei Mechanical 1" issued by Nikkei BP
No. 16, 1992, p. 80.

[0005]

However, in the above-mentioned space exploration vehicle 51, when the ridge RI is crossed at a right angle, the lower surface of the vehicle body 53 interferes with the ridge RI, as shown in FIG. 15 (b). In order to get over this ridge RI, as shown in FIGS. 16 (a) and 16 (b), the ridge RI
Since it is necessary to enter diagonally, it is difficult to say that the crossing performance is excellent, and there is a high possibility that the traveling route will be restricted in many cases, and this problem is solved. It has been a conventional problem to do so.

[0006]

SUMMARY OF THE INVENTION The present invention has been made by paying attention to the above-mentioned conventional problems, and it goes without saying that it is lightweight and small in size, and it realizes improvement of crossing ability and can be used for almost all the conditions of astronomical terrain. It is an object of the present invention to provide a traveling vehicle for space exploration that can travel without restriction.

[0007]

A traveling vehicle for space exploration according to claim 1 of the present invention is a traveling vehicle for space exploration comprising four drive wheels and a vehicle body supported by the four drive wheels. In the above, the four drive wheels are arranged on the front side, rear side, and both sides of the vehicle body, and the front end portion and the rear end portion of the vehicle body are supported by a horizontal axis orthogonal to the front-rear axis of the vehicle body. A front rotating arm and a rear rotating arm, respectively, and a drive wheel located on the front side of the vehicle body and a drive located on one side of the vehicle body at the front and rear ends of the front rotating arm. The wheels are respectively attached, and the drive wheels located on the other side of the vehicle body and the drive wheels located on the rear side of the vehicle body are attached to the front end portion and the rear end portion of the rear turning arm, respectively. Between the rotating arm and the rear rotating arm In order to solve the above-mentioned conventional problems, the structure of this traveling vehicle for space exploration is characterized in that an arm interlocking mechanism for rotating the both rotating arms in opposite directions with respect to the vehicle body is provided. Is used as a means.

Further, in the vehicle for space exploration according to claim 2 of the present invention, the arm interlocking mechanism is provided orthogonal to the front pivot arm, and a front lever that pivots together with the front pivot arm and a rear lever. A rear lever that is provided orthogonal to the side rotation arm and that rotates together with the rear rotation arm;
The first link connecting the end of the front lever located on the drive wheel side and the end of the rear lever located on the side opposite to the drive wheel, and the drive wheel of the front lever that intersects with the first link In the vehicle for space exploration according to claim 3 of the present invention, a second link is provided for connecting the end located on the opposite side and the end located on the drive wheel side of the rear lever. The individual drive wheels are both attached to the front rotation arm and the rear rotation arm via the steering shaft.

Further, in the vehicle for space exploration according to claim 4 of the present invention, the four drive wheels are rotated around a horizontal axis orthogonal to the front-rear axis of the vehicle body on the front and rear pivot arms. Mounted respectively via movably connected steering shafts, between the respective steering shafts of the drive wheels located on the front side of the vehicle body and the drive wheels located on one side of both sides of the vehicle body,
A front link arm that is parallel to the front turning arm and is pivotally connected to both of the steering shafts is provided, and a drive wheel located on the other side of both sides of the vehicle body and a drive located on the rear side of the vehicle body. A rear link arm that is parallel to the rear turning arm and that is pivotally connected to both of the steering shafts is provided between the steering shafts of the wheels.

[0010]

Since the traveling vehicle for space exploration according to claim 1 of the present invention has the above-mentioned structure, for example, when entering a depression from a flat surface or descending from a ridge, it is located on the front side of the vehicle body. The drive wheels are lowered, and the drive wheels located on one of both sides of the vehicle body are in contact with the flat surface (or the upper part of the ridge), so that the front rotation arm is inclined forward and downward.

At this time, although the rear rotation arm tries to rotate in the opposite direction to the front rotation arm with respect to the vehicle body by the arm interlocking mechanism, the vehicle body tilts forward and the rear rotation arm moves toward the front side. The movements are offset, and the drive wheel located on the other side of the vehicle body attached to the rear turning arm and the drive wheel located on the rear side of the vehicle body are flat surfaces (or upper ridges).
Will surely grip.

On the other hand, for example, when climbing a ridge from a flat surface or exiting from a depression, the drive wheel located on the front side of the vehicle body rises and the drive wheel located on one side of both sides of the vehicle body moves on a flat surface (or Since it is grounded to the bottom of the recess), the front rotation arm tilts forward and upward.

At this time, the rear rotation arm tries to rotate in the direction opposite to the front rotation arm with respect to the vehicle body by the arm interlocking mechanism, but the vehicle body tilts rearward and the rear rotation arm moves. The movements are offset, and the drive wheels located on the other side of the vehicle body mounted on the rear turning arm and the drive wheels located on the rear side of the vehicle body are flat surfaces (or bottoms of the recesses).
Will surely grip.

That is, in any of the descending modes such as when entering a depression from a flat surface and when descending from a ridge, and in climbing modes when climbing from a flat surface to a ridge and exiting from a depression, four modes are provided. Since the driving wheels of the vehicle reliably capture the surface of the celestial body, stable traveling is achieved.

Further, in this space exploration vehicle, when only the drive wheels located on one side of the vehicle body are appropriately operated, the drive wheels located on the front side of the vehicle body rotate the front rotation arm. If, for example, the drive wheels located on the front side that have been pulled up are placed on an obstacle such as a rock and each drive wheel is appropriately operated, the obstacles will be crossed. Since the two drive wheels arranged on both sides are located between the drive wheel located on the front side and the drive wheel located on the rear side, the wheel base becomes substantially short and the lower surface of the vehicle body is obstructed. Without interfering with things,
As a result, excellent walkability can be obtained.

The traveling vehicle for space exploration according to claim 2 of the present invention has a simple structure in which the front pivot arm and the rear pivot arm are pivoted in directions opposite to each other with respect to the vehicle body. In the space exploration vehicle according to claim 3,
Direction control is performed by appropriately steering the four driving wheels.

The traveling vehicle for space exploration according to claim 4 of the present invention has the above-mentioned configuration, and therefore the
Since the mutual positional relationship in the front-rear direction of the individual drive wheels hardly changes, the wheel base becomes short, and since the vehicle body is supported at a high position, the walkability is further improved.

[0018]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings.

1 to 11 show an embodiment of a vehicle for space exploration according to the present invention, which is shown in FIG. 1, FIG. 2 and FIG.
11A to 11C, the right side in each figure is the front side.

As shown in FIGS. 1 and 2, the space exploration vehicle 1 includes four drive wheels 2 and these drive wheels 2.
Is equipped with a vehicle body 3 supported by the four drive wheels 2.
They are arranged on the front side, rear side and both sides of the vehicle body 3.

The vehicle body 3 is provided with horizontal shafts 5 at the front end portion and the rear end portion thereof which are orthogonal to the front-rear axis of the vehicle body 3 via bearings 6, respectively, and as shown in FIGS. The center of the front rotating arm 7 is fixed to the right end (lower end in FIG. 1) of the horizontal shaft 5, and the rear rotating arm 8 is attached to the left end (upper end in FIG. 1) of the rear horizontal shaft 5. The center of is fixed. A drive wheel 2F located on the front side of the vehicle body 3 and a drive wheel 2SR located on the right side of the vehicle body 3 (one of the two sides of the vehicle body 3) conflict with each other at the front end portion and the rear end portion of the front rotating arm 7. And the rear side of the rear turning arm 8 has a front end and a rear end that are located on the left side of the vehicle body 3 (the other side of the vehicle body 3 on the other side) and the rear side of the vehicle body 3. The drive wheels 2R located on the side are mounted in opposite directions.

In this case, the drive wheels 2F and 2SR are attached to the front turning arm 7 via steering shafts 10F and 10SR, respectively, and the drive wheels 2SL and 2R are attached to the rear turning arm 8 and the steering shaft 10SL. , 10R respectively.

The steering shaft 10 is provided on the upper end of an arm plate 11 extending upward from an axle (not shown) of the drive wheel 2, and is mounted via a steering shaft box 12 fixed to each rotating arm 7, 8. Yes, the steering axis box 12
A steering force application unit 13 (only shown in FIG. 3B) that applies rotational force to the steering shaft 10 to control the direction of the drive wheels 2, and a solenoid 14 and a solenoid 14 that project into the steering shaft box 12. A lock mechanism 16 having a push bar 15 for fixing the steering shaft 10 is provided.

The space exploration vehicle 1 also includes an arm interlocking mechanism 20.

The arm interlocking mechanism 20 is provided so as to be orthogonal to the center of the front rotating arm 7 and is connected to the front rotating arm 7.
The front lever 21 that rotates together with the rear rotation arm 8
A rear lever 22 that is provided orthogonally to the center of the rear pivot arm 8 and rotates together with the rear pivot arm 8;
Of the front auxiliary lever 23 fixed to the left end (upper end of FIG. 1) of the rear parallel lever 21 and parallel to the rear lever 22 fixed to the right end (lower end of FIG. 1) of the rear horizontal shaft 5. Side auxiliary lever 24 and the drive wheel 2 of the front lever 21
The first link disposed between the lower end 21a located on the side (lower side in FIG. 2) and the upper end 24b located on the side opposite to the drive wheel 2 of the rear auxiliary lever 24 (upper side in FIG. 2). 25,
The first auxiliary link 23 is disposed between the upper end 23b of the front auxiliary lever 23 located on the opposite side of the drive wheel 2 and the lower end 22a of the rear lever 22 located on the drive wheel 2 side. The second link 26, and the first link 25
Is pivotally connected to both the lower end 21a of the front lever 21 and the upper end 24b of the rear auxiliary lever 24,
The second link 26 is connected to the upper end 23b of the front auxiliary lever 23.
By pivotally connecting to both the lower end 22a of the rear lever 22 and the rear lever 22, the front pivot arm 7 and the rear pivot arm 8 can be pivoted in opposite directions with respect to the vehicle body 3. There is.

In this space exploration vehicle 1, for example, as shown in FIG. 5, when entering the depression T from the flat surface S, or when descending from the ridge U as shown in FIG. The drive wheels 2F located on the front side of the vehicle body 3 are lowered,
Since the drive wheel 2SR located on the right side of the vehicle body 3 is in contact with the flat surface S (or the upper portion of the ridge U), the front-side turning arm 7 is inclined forward and downward with respect to the vehicle body 3.

At this time, in the state shown in FIG. 5, the rear interlocking mechanism 8 tries to rotate the rear pivot arm 8 in the opposite direction (counterclockwise direction) to the front pivot arm 7 with respect to the vehicle body 3. However, since the vehicle body 3 is tilted forward, the operation of the rear turning arm 8 is offset, and the drive wheels 2SL and the vehicle body 3 mounted on the rear turning arm 8 on the left side of the vehicle body 3 are positioned.
The drive wheel 2R positioned on the rear side surely grips the flat surface S, and in the state shown in FIG. 6, the rear rotation arm 8 is rotated frontward with respect to the vehicle body 3 by the arm interlocking mechanism 20. The drive wheel 2SL located on the left side of the vehicle body 3 mounted on the rear side rotation arm 8 and the drive wheel 2R located on the rear side of the vehicle body 3 rotate in the direction opposite to the arm 7 (counterclockwise direction). The upper part of the ridge U is surely gripped.

On the other hand, for example, when climbing from a flat surface S to a ridge U as shown in FIG. 7 or as shown in FIG.
In any case, the drive wheel 2F located on the front side of the vehicle body 3 is lifted up and the drive wheel 2SR located on the right side of the vehicle body 3 is grounded on the flat surface S (or the bottom of the recess T) in any case. The front rotation arm 7 is tilted forward with respect to the vehicle body 3.

At this time, in the state shown in FIG. 7, the rear interlocking arm 8 attempts to pivot with respect to the vehicle body 3 in the direction opposite to the front pivotal arm 7 (clockwise direction) by the arm interlocking mechanism 20. However, since the vehicle body 3 is tilted rearward to offset the operation of the rear turning arm 8, the drive wheels 2SL located on the left side of the vehicle body 3 attached to the rear turning arm 8 and the rear side of the vehicle body 3 are positioned. The driving wheel 2R securely grips the flat surface S, and in the state shown in FIG. 8, the rear rotation arm 8 is opposed to the front rotation arm 7 with respect to the vehicle body 3 by the arm interlocking mechanism 20. Direction (clockwise direction), the drive wheel 2SL located on the left side of the vehicle body 3 attached to the rear side rotation arm 8 and the drive wheel 2R located on the rear side of the vehicle body 3 ensure the bottom of the depression T. Will be gripped.

That is, in the descending mode such as when entering the depression T from the flat surface S as shown in FIG. 5 or when getting off from the ridge U as shown in FIG. 6, and from the flat surface S as shown in FIG. When climbing a ridge U or a depression T as shown in FIG.
In any of the climbing modes such as when exiting the vehicle, the four driving wheels 2 reliably catch the surface of the celestial body, so that stable traveling is achieved.

In the space exploration vehicle 1, FIG.
As shown in FIG. 2, when driving over an obstacle X such as a rock, if only the drive wheel 2SR located on the right side of the vehicle body 3 is operated, the drive wheel 2F located on the front side of the vehicle body 3 will move. Will be pulled up by the rotation of
As shown in FIG. 10, the front drive wheel 2F is pulled up.
Drive wheels 2SR and 2SL located on both sides of the vehicle body 3 so that the vehicle is placed on the obstacle X, and then only drive wheel 2SL located on the left side of the vehicle body 3 is operated to drive the vehicle located on the rear side of the vehicle body 3. After the wheel 2R is grounded, as shown in FIG. 11, only the rear drive wheel 2R of the vehicle body 3 is operated to pull up the drive wheels 2SR and 2SL located on both sides of the vehicle body 3 together with the vehicle body 3. In this case, the obstacle X is traversed, and at this time, the two drive wheels 2SR arranged on both sides are disposed between the drive wheel 2F located on the front side of the vehicle body 3 and the drive wheel 2R located on the rear side. , 2SL is located,
The wheel base becomes substantially short, the lower surface of the vehicle body 3 does not interfere with the obstacle, and as a result, excellent walkability is obtained.

In this space exploration vehicle 1, the drive wheels 2F and 2SR are attached to the front turning arm 7 via the steering shafts 10F and 10SR, respectively.
Since the SL and 2R are attached to the rear turning arm 8 via the steering shafts 10SL and 10R, respectively, four driving wheels 2 are provided.
By appropriately steering F, 2SR, 2SL, 2R,
Direction control will be performed.

12 to 14 show another embodiment of the vehicle for space exploration according to the present invention. The parts having the same structure as the vehicle 1 for space exploration in the previous embodiment have the same parts. The reference numerals are given and the description thereof is omitted. 12 and 14, the right side of the figures is the front side.

As shown in FIGS. 12 to 14, in this space exploration vehicle 31, the steering shafts 4 of the drive wheels 2F and 2SR are used.
Steering shaft boxes 42, 42 supporting 0F, 40SR are connected to a horizontal shaft 34, which is provided on the front-side turning arm 7 and is orthogonal to the front-rear shaft of the vehicle body 3, via bearings 35, respectively.
On the other hand, the steering shafts 40SL, 40R of the drive wheels 2SL, 2R
Steering shaft boxes 42, 42 for supporting the horizontal shaft 34, which are also provided on the rear turning arm 8 and are orthogonal to the front-rear shaft of the vehicle body 3.
And bearings 35, respectively.

In the space exploration vehicle 31, the front turning arm is provided between the steering shaft boxes 42, 42 of the drive wheel 2F located on the front side of the vehicle body 3 and the drive wheel 2SR located on the right side of the vehicle body 3. 7 and a front side link arm 37 which is connected to both of the steering shaft boxes 42, 42 via bearings 35, respectively, and is positioned on the left side of the vehicle body 3 on the drive wheel 2SL and on the rear side of the vehicle body 3. Between the steering shaft boxes 42, 42 of the driving wheel 2R, which are parallel to the rear turning arm 8 and both steering shaft boxes 4
Rear link arms 38 connected to the shafts 2 and 42 via bearings 35 are provided.

That is, in this space exploration vehicle 31,
Similar to the space exploration vehicle 1 in the previous embodiment, a descending mode such as when entering a recess from a flat surface or when descending from a ridge as shown in, and when climbing a ridge from a flat surface or exiting from a recess. In any of the climbing modes such as the case, the four driving wheels 2 reliably capture the surface of the celestial body, so stable running is achieved and excellent crossing performance is achieved even when overcoming obstacles such as rocks. Is
In addition, since the mutual positional relationship in the front-rear direction of the four drive wheels 2 hardly changes during traveling, the wheel base becomes short, and the vehicle body is supported at a high position, which further enhances the walkability. It will be improved.

[0037]

As described above, according to the first aspect of the present invention.
In the space exploration vehicle according to the above, since it is configured as described above, it is needless to say that it is lightweight and small, and when entering a depression from a flat surface or descending from a ridge, or climbing a ridge from a flat surface, In any case of going out of the depression, stable running is possible, and even if there are obstacles such as rocks on the traveling route, it is possible to walk through the obstacles by appropriately operating each drive wheel. It is possible, and as a result, the walkability can be improved, and an extremely excellent effect that the traveling route can be traveled without being substantially restricted by the condition of the surface of the celestial body is brought about.

Further, in the vehicle for space exploration according to claim 2 of the present invention, since it has the above-mentioned configuration, the front turning arm and the rear turning arm are provided in the vehicle body without making the structure complicated. With respect to the traveling vehicle for space exploration according to claim 3 of the present invention,
By steering the four driving wheels appropriately, it is possible to obtain the extremely excellent effect that the direction control can be performed.

Further, in the vehicle for space exploration according to claim 4 of the present invention, since it has the above-mentioned constitution, the mutual positional relationship in the front-rear direction of the four driving wheels hardly changes during traveling, so that the wheel base. In addition to being short, the vehicle body is supported at a high position, which provides an extremely excellent effect that it is possible to further improve the crossing performance.

[Brief description of drawings]

FIG. 1 is an explanatory plan view showing an embodiment of a space exploration vehicle according to the present invention.

FIG. 2 is a side view of the traveling vehicle for space exploration in FIG.

FIG. 3 is a front explanatory view (a) of the traveling vehicle for space exploration in FIG. 1 and an enlarged sectional explanatory view (b) of a steering shaft portion.

FIG. 4 is an explanatory cross-sectional view taken along the line AA in FIG.

5 is a side view schematically showing a situation where the space exploration vehicle of FIG. 1 enters a recess from a flat surface. FIG.

FIG. 6 is a side view schematically showing a situation in which the vehicle for space exploration of FIG. 1 gets over a ridge.

FIG. 7 is a side view schematically showing a situation where the space exploration vehicle of FIG. 1 enters a ridge from a flat surface.

FIG. 8 is a side view schematically showing a situation in which the space exploration vehicle of FIG. 1 escapes from the depression.

9 is a side view schematically showing a situation in which the traveling vehicle for space exploration in FIG. 1 gets over an obstacle.

FIG. 10 is a side explanatory view schematically showing a situation in which the vehicle for space exploration in FIG. 1 gets over an obstacle.

FIG. 11 is a side view schematically showing a situation where the traveling vehicle for space exploration shown in FIG. 1 gets over an obstacle.

FIG. 12 is a side view showing another embodiment of the vehicle for space exploration according to the present invention.

13 is a front explanatory view (a) of the traveling vehicle for space exploration in FIG. 12 and an enlarged sectional explanatory view (b) of a steering shaft portion.

FIG. 14 is an operation explanatory diagram of the space exploration vehicle in FIG. 12;

FIG. 15 is a plan view schematically showing a situation in which a conventional four-wheel space exploration vehicle crosses a ridge at a right angle (a) and a side direction of the four-wheel space exploration vehicle in FIG. 4 (a). It is explanatory drawing (b) from FIG.

FIG. 16 is a plan explanatory view (a) and FIG. 5 (a) schematically showing a situation in which a conventional four-wheel space exploration vehicle diagonally enters a ridge and gets over it; It is explanatory drawing (b) from the side surface direction of a traveling vehicle.

[Explanation of Codes] 1 traveling vehicle for space exploration 2 (2F, 2R, 2SR, 2SL) drive wheel 3 vehicle body 5 horizontal shaft (horizontal axis) 7 front rotating arm 8 rear rotating arm 10 (10F, 10R, 10SR) , 10SL) Steering shaft 20 Arm interlocking mechanism 21 Front lever 21a Lower end of front lever 22 Rear lever 22a Lower end of rear lever 23 Front auxiliary lever 23b Upper end of front auxiliary lever 24 Rear auxiliary lever 24b Upper end of rear auxiliary lever 25 First link 26 Second link 34 Horizontal shaft 37 Front side link arm 38 Rear side link arm 40 (40F, 40R, 40SR, 40SL) Steering shaft

Claims (4)

[Claims] 1. A vehicle for space exploration comprising four drive wheels and a vehicle body supported by the four drive wheels, wherein the four drive wheels are provided on the front, rear and both sides of the vehicle. And a front rotation arm and a rear rotation arm whose center is supported on a horizontal axis orthogonal to the front-rear axis of the vehicle body, respectively, at the front end portion and the rear end portion of the vehicle body. A drive wheel located on the front side of the vehicle body and a drive wheel located on one of both sides of the vehicle body are attached to the front end portion and the rear end portion of the vehicle body, respectively, and the front end portion and the rear end portion of the rear side rotation arm are attached. A drive wheel located on the other side of the vehicle body and a drive wheel located on the rear side of the vehicle body, respectively, and the two rotation arms are provided between the front rotation arm and the rear rotation arm. Rotate in opposite directions with respect to the vehicle body A vehicle for space exploration, which is equipped with a boom linkage mechanism. 2. The arm interlocking mechanism includes a front lever that is provided orthogonally to the front rotating arm and rotates together with the front rotating arm, and a rear lever that is provided orthogonally to the rear rotating arm. A first lever linking a rear lever that rotates together with the moving arm, a first link connecting an end portion of the front lever located on the drive wheel side and an end portion of the rear lever located on the side opposite to the drive wheel, and the first link The space exploration device according to claim 1, further comprising a second link that intersects with the end portion of the front lever located on the side opposite to the drive wheel and the end portion of the rear lever located on the drive wheel side. For traveling vehicles. 3. The vehicle for space exploration according to claim 1, wherein the four drive wheels are attached to both the front turning arm and the rear turning arm via steering shafts. 4. The four drive wheels are attached to a front rotating arm and a rear rotating arm via steering shafts rotatably connected around a horizontal axis orthogonal to the longitudinal axis of the vehicle body, respectively. A front side that is parallel to the front turning arm and is pivotally connected to both of the steering shafts of the drive wheels located on the front side of the vehicle body and the drive wheels located on one side of both sides of the vehicle body. A link arm is provided, and between the steering shafts of the drive wheel located on the other side of the vehicle body and the drive wheel located on the rear side of the vehicle body, the link arm is parallel to the rear rotation arm and both steering wheels are provided. The vehicle for space exploration according to claim 1 or 2, further comprising rear link arms pivotally connected to the shafts.