Morphable Wheels Built with Origami Structures Overcome Limitations of Small-Scale Lunar Rovers
Lunar pits and lava tubes, formed beneath the moon’s surface, are considered prime candidates for long-term lunar habitats because they offer protection from extreme temperature fluctuations and cosmic radiation. These areas are also critical exploration targets as they preserve geological records from the early solar system. However, practical access has remained impossible due to harsh terrain characterized by steep slopes, rocky debris, and the risk of falls. A KAIST research team has now presented a solution to this challenge using an origami-inspired structure that eliminates the need for complex mechanical devices.
KAIST announced that a research team led by Professor Dae-Young Lee from the Department of Aerospace Engineering, in collaboration with domestic and international research institutes and private companies, has developed the world’s first deployable airless wheel designed for entering lunar pits and lava tubes. This technology is a core element that fundamentally expands the mobility of lunar rovers, enabling the exploration of steep terrain and cave interiors that were previously inaccessible.
In conventional lunar exploration strategies, deploying small rovers from a larger “parent” rover has been proposed, but small rovers have struggled to secure sufficient mobility due to structural constraints. Previous morphable wheel technologies, which adjust wheel size, faced practical limitations in extreme environments due to cold welding, uneven thermal expansion, and highly abrasive lunar dust.
Inspired by Da Vinci: High Durability and Scale-up Capability
To solve these issues, the research team proposed a new deployable wheel structure that combines origami principles and soft robotics instead of complex mechanical hinges or actuators. Inspired by the interlocking structure of the “Da Vinci Bridge,” this deployable airless wheel is manufactured by folding high-elasticity metal plates, allowing it to fold and deploy without traditional hinges.
The developed wheel measures only 23 cm in diameter when folded but expands up to 50 cm when deployed. This allows even a small-scale rover to secure the mobility needed to overcome large obstacles. In driving tests conducted in simulated lunar soil (regolith), the wheel showed stable performance. Furthermore, its high impact resistance was confirmed as it maintained its structure and function even after a free-fall from a height equivalent to 100 meters under lunar gravity.
The researchers also verified structural stability through precise thermal analysis, considering the Moon’s extreme temperature shifts. The design ensures that the wheel maintains its shape and functionality even in environments where the temperature difference between day and night reaches $300^{\circ}C$.
A Global First in Overcoming Exploration Barriers
Professor Dae-Young Lee of KAIST stated that this deployable wheel is the first case in the world to provide a technical answer to the difficult challenge of entering lunar pits and lava tubes. While challenges such as communication, navigation, and power remain, he emphasized that this technology—by solving the mobility issue—serves as a starting point for making independent lunar exploration missions a reality.
The research involved contributors from KAIST, the Unmanned Exploration Laboratory (UEL), the Korea Astronomy and Space Science Institute (KASI), the Korea Aerospace Research Institute (KARI), and Hanyang University. The findings were published in the international journal Science Robotics. By structurally redesigning the limits of lunar mobility, this technology is expected to have a significant impact on deep-space exploration rover technology at large.
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