DOI: 10.7910/dvn/asqan9
title: The Messenger of Mehr (Mithra) Mars Rover: Iran's First Rover for Space Exploration-Carrying 7,000 Years of Persian Legacy
title: Mehrdad Nosrati
title: مریخ‌نورد پیام‌آور مهر (میترا): اولین مریخ‌نورد ایران برای اکتشافات فضایی - حامل ۷۰۰۰ سال میراث ایرانی

description: This comprehensive document presents the complete technical design of The Messenger of Mehr (Mithra) Mars rover which it is first Iranian rover for space exploration with the name derived from carrying 7,000 years of Iranian heritage. It can be described as a high-performance and intelligent rover capable of conducting deep geological surveys and exploring the Martian surface and other planetary surface, even in the presence of complex extraterrestrial terrains, on its own. Mehr (Mithra) is an ancient Iranian deity (Yazata) The divinity that orders the universe and gives light to the universe, with a symbol of the rising sun that shines upon the universe and illuminates it and also contracts, covenants, and friendship. He also oversaw the orderly change of the seasons, maintained cosmic order, and was responsible for bestowing divine grace on kings. The Mehr cult existed in ancient Iran thousands of years before the rise of Iranian Zoroastrianism and the birth of Christ. The name was chosen to acknowledge the continuity of ancient history and sky observation in Iranian culture, and represents a symbolic bridge between the legacy of cosmological exploration and the contemporary pursuit of planetary science. Furthermore, in ancient Iranian belief, Mehr (Mithra) was also revered as the deity of war and victory. And also, the color of the Mehr (Mithra) is associated with the color red and the planet Mars. Because of this, the name creates a direct symbolism and is intended as a name for a mission to the Red Planet. One of the innovations of this design is its autonomous systems, the design focuses on key subsystems that enable autonomous mobility and robotic manipulation in the harsh Martian environment. The use of two advanced robotic arms allows for high-precision tasks such as sample collection, tool deployment, and in-situ analysis. The system is equipped with a set of interchangeable tools, including a variety of drills and cameras, as well as a variety of sensors and sample collection. A key element of the mobility system is its capability, designed for stability and traction on a variety of smooth and rough surfaces, thus allowing access to areas of high geological value for surface exploration. Regarding perception and navigation, the Mehr rover is equipped with a mast that houses a set of navigation and panoramic cameras, which are the main visual organs for terrain assessment and trajectory planning. The shape and structure of Chassis and also solar panels have been considered considering the harsh environmental conditions of Mars, and special attention has been paid to the robustness of the transportation system and the efficient use of solar energy in the Martian environment. SolidWorks software has been used to validate the structural and thermal performance of the mobility system. In addition, the first control schemes for mobility and manipulation, set up in MATLAB and able to accurately characterize the feasibility of movement, serve as a proof of concept. This design could be a major step forward in rover design, given its high mechanical robustness and special operational freedom based on subsystem integration. Its creation will provide a reliable and flexible foundation for future scientific missions to the surface of Mars. The rover, hence, is not just a technological landmark but also a cultural and historical messenger, carrying the ancient Iranian respect for the cosmic order, represented by Mehr, to the modern age of interplanetary exploration. This will establish a dependable and versatile base for scientific missions to the Red Planet, and as a result, the development of this rover could link Iran's brilliant past with its future of space exploration.