Case Study: Lunar Roving Vehicle - University Of...
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics U N I V E R S I T Y O F MARYLAND Case Study: Lunar Roving Vehicle 1 © 2014 David L. Akin - All rights reserved http://spacecraft.ssl.umd.edu
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Transcript of Case Study: Lunar Roving Vehicle - University Of...
Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Case Study: Lunar Roving Vehicle
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© 2014 David L. Akin - All rights reserved http://spacecraft.ssl.umd.edu
Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Concepts for Lunar Equipment Carriers
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Concepts for Lunar Equipment Carriers
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Concepts for Lunar Equipment Carriers
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Modular Equipment Transporter
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
MET Structure
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
MET Equipment Load (Apollo 14)
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Pneumatic Tire Specifications
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Thermal Vacuum Testing of Wheels
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Towing Force vs. Vehicle Weight (Moon)
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Designing the Lunar Rover
Excerpts from “Lunar Rover” from A&E series “Moon Machines” (available on YouTube at https://www.youtube.com/watch?v=5aDSYTMqyQw )
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LRV Three-View and Dimensions
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LRV Payload Components
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LRV in Stowed Configuration
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LRV Deployment (1-6)
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LRV Deployment Sequence (7-12)
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LRV Deployment Sequence (13-15)
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LRV Speed Capabilities
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LRV Chassis Structure
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LRV Wheel Suspension
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LRV Wheel Steering Connections
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LRV Wheel Motor and Gearing
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Apollo 17 LRV Wheel and Fender
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LRV Wheel Design Details
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LRV Wheel Testing
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
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LRV Wheel Deflection
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Location of LRV Center of Gravity
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LRV Static Stability
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Limiting Velocity for Obstacle Impact
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Sliding Limit in Turn (µ=0.8)
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LRV Overturn Limits in Turning
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Turning Radius with CG Shift - 0° Slope
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Turning Radius with CG Shift - 20° Slope
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Turning Radius Limit for Higher CG
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LRV Top Speed Limits (Struct. Fatigue)
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LRV Power Requirements - 0° Slope
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LRV Power Requirements - 5° Slope
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
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LRV Power Requirements - 10° Slope
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LRV Traction Drive Performance
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Battery Current vs. Speed
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
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Wheel Motor Temperature vs. Slope
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
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Power Usage by System
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
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LRV Wheel Loading
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
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Drive Motor Characteristics
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
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LRV Stopping Distance vs. Speed/Slope
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LRV Terrain Design Cases
• Crevasse crossing capability 70 cm • Step Obstacle Climbing Capability 35 cm • Clearance under chassis 35 cm
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
LRV Mobility Parameters
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
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Apollo 15 Terrain (“Lurain”)
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Apollo 15 LRV
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
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Apollo 16 “Lunar Grand Prix”
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Apollo 16 LRV (image stabilized)
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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
References
• Glenn C. Miller, “The Lunar Cart” 7th Aerospace Mechanisms Symposium, Houston, Texas, Sept. 2-3, 1972
• Alex B. Hunter and Bryan W. Spacey, “Lunar Roving Vehicle Deployment Mechanism” 7th Aerospace Mechanisms Symposium, Houston, Texas, Sept. 2-3, 1972
• Boeing Company, “LRV Operations Handbook Appendix A (Performance Data” NASA TM-X-66816, April 19, 1971
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