AAE450 Spring 2009

100g Locomotion

Thursday March 5, 2009

Ryan Lehto Propulsion Group,

Locomotion Phase, CAD Designer

AAE450 Spring 2009

Roller Rover Integration

Ryan Lehto Propulsion Group,

Locomotion Phase, CAD Designer

Camera

CPU

Transceiver

Batteries

Main Shaft with MotorOutside Shell 0.25 D

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Payload

AAE450 Spring 2009

Mass, Power, Cost System:

– 1 Forward Propulsion DC motor w/ 221:1 Planetary Gearing– 1 DC Stepper Motor for Turning

Mass: (Motor)+ (Gearing)+ (Stepper Motor)= 0.072kg

Power: 0.543 W * 8mins = 0.072 W*hrs

Cost: $153.27* + Stepper Motor (Pending Quote)

Work Before Monday:– Reconfigure Components to optimize CM and thermal controls.– Find a smaller Camera to further reduce mass.

Ryan Lehto Propulsion Group,

Locomotion Phase, CAD Designer

*Based on current exchange rate of 1.00 EUR=1.28 USD

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AAE450 Spring 2009

Motor DataMotor

Power Input (W) Efficiency

Power Nominal Output (W)

Mass (g)

No-load Velocity (RPM)

Dia (mm)

Length (mm) Cost

349190 - RE 6 Ø6 mm, Precious Metal Brushes,

0.3 Watt 0.534 55.2% 0.3 2.3 18500 6 22.9$58.71 (45.87 Eur)

Gearing Ratio Efficiency Mass (g) Diameter mm Length mm Cost

304181- Planetary Gearhead GP 6 A Ø6 mm, 0.002 - 0.03 Nm 221:1 60% 2.9 6 25.8$94.55 (73.87 Eur)

Sources: http://shop.maxonmotor.com/ishop and http://motion-controls.globalspec.com

Stepper MotorHolding Torque (Nm) Step Angle Voltage (V)

Mass (g)

No-load Velocity (RPM)

Dia (mm)

Length (mm) Cost

ARSAPE Two Phase Stepper Motor --

AM2224-R3AV-4.8 0.045 15° 3 2 18500 6 22.9$58.71 (45.87 Eur)

Ryan Lehto Propulsion Group,

Locomotion Phase, CAD Designer

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AAE450 Spring 2009

Assumptions 500m in 8mins = 1.04m/s average speed Acceleration of 0.001m/s Iball=Spherical Shell = 0.024 kg*m^2

Neglect axle friction Not a simple rod pendulum analysis using

CATIA to find CM

Ryan Lehto Propulsion Group,

Locomotion Phase, CAD Designer<5>

AAE450 Spring 2009

Pendulum C of M

Ryan Lehto Propulsion Group,

Locomotion Phase, CAD Designer<6>

AAE450 Spring 2009

Forward Motion Pendulum Torque needed to raise 45

m=mass of pendulum 0.488kg g= lunar gravity 1.635 m/s^2 Lcm=Distance of center of mass from

rotation axis 0.053m = τ torque needed 0.0378Nm

Ryan Lehto Propulsion Group,

Locomotion Phase, CAD Designer<7>

AAE450 Spring 2009

Ryan Lehto Propulsion Group,

Locomotion Phase, CAD Designer<8>

Camera

Transceiver

Main Shaft with Motor

CPU

Payload