Developing PUD Developing PUD ––Lunar Lunar Rover Test Platform Rover Test Platform

Mohamad Farhat, Tom Lamarche, Erick Mohamad Farhat, Tom Lamarche, Erick Dupuis, Alessio SalernoDupuis, Alessio Salerno,,

Stephen Lake Stephen Lake

ASTRA 2011ASTRA 2011ESTEC, Noordwijk, The NetherlandsESTEC, Noordwijk, The Netherlands

IntroductionIntroduction Planetary UPlanetary U--Shaped Dolly (PUD)Shaped Dolly (PUD) MultiMulti--utility rover concept is based on the utility rover concept is based on the

idea of using one basic rover chassis with idea of using one basic rover chassis with multiple specialized payloadsmultiple specialized payloads

Remotely configurableRemotely configurable Payloads: drilling, excavation, building Payloads: drilling, excavation, building

material transportation, scientific material transportation, scientific instruments, ISRU instruments, ISRU ……..

For earth analogue testingFor earth analogue testing LowLow--cost fast prototypingcost fast prototyping

PUDPUD--I Rover DescriptionI Rover Description UU--Shaped rigid chassisShaped rigid chassis Square tube conceptSquare tube concept Torsion loads Torsion loads --FEMFEM 44--Jacks payload lifting Jacks payload lifting Payload InterfacePayload Interface

PinPin--hole interfacehole interface Approach coneApproach cone Locking Locking Payload spring damper Payload spring damper

PUDPUD--I Rover DescriptionI Rover Description Payload mockPayload mock--upup Flexible tires Flexible tires Suspension conceptSuspension concept Available torqueAvailable torque UU--Shaped utility was demonstrated Shaped utility was demonstrated

PUDPUD--II Rover DescriptionII Rover Description lessons learnt from the PUDlessons learnt from the PUD--II More torque More torque -- gear ratiogear ratio New suspension New suspension Aluminum tube structureAluminum tube structure Flexible wheels FWFlexible wheels FW--350350

SandSand-- regolith wheelsregolith wheels 25 25 ““ diameter, 10diameter, 10”” widthwidth Increased contact patchIncreased contact patch

PUDPUD--II Rover DescriptionII Rover Description--22 New flexible metal wheelsNew flexible metal wheels LithiumLithium--Ion batteriesIon batteries Three point payload interfaceThree point payload interface New payload basketNew payload basket Remote control Remote control

UU--Shaped Chassis UtilityShaped Chassis Utility Adaptable and scalable to suit moon marsAdaptable and scalable to suit moon mars Exploration missions:Exploration missions:

Targeted utility of vehicle Targeted utility of vehicle Automatic operation (automatic docking)Automatic operation (automatic docking) TeleTele--operationoperation Example Example ““Dig for and erect a shelterDig for and erect a shelter””

Science missions:Science missions: Capability to interchange instruments Capability to interchange instruments Suits well sample return missionsSuits well sample return missions Rover reuse in multiple missionsRover reuse in multiple missions

UU--Shaped Chassis UtilityShaped Chassis Utility--22 Human missions:Human missions:

Astronaut remote realAstronaut remote real--time functionstime functions MultiMulti--payload utilitypayload utility Transporting astronautTransporting astronaut

Suited astronaut Suited astronaut Life support bubbleLife support bubble

Non –pressurized Radiation Shield

Configurable

Astronaut- Module

Base link Antenna

Space Network Antenna

Traction

Commanding System + Virtual windows

screen

Configurable payload and appendages

interface

Instruments Mast

Flood Lights,

cameras & sensors

Sealed door Astronaut access door from front

of open U-Chassis side

Rover Main U-chassis

Closed U side

Lunar Mobility System Manned Rover ConfigurationSuited Astronaut

with life supportSupplies Wheel

guards

Sealed Door

Flexib le Structure Element

Non –pressurized Radiation Shield

Configurable

Astronaut- Module

Base link Antenna

Space Network Antenna

Traction

Commanding System + Virtual windows

screen

Configurable payload and appendages

interface

Instruments Mast

Flood Lights,

cameras & sensors

Sealed door Astronaut access door from front

of open U-Chassis side

Rover Main U-chassis

Closed U side

Lunar Mobility System Manned Rover ConfigurationSuited Astronaut

with life supportSupplies Wheel

guards

Sealed Door

Flexib le Structure Element

Field Testing Field Testing U-shaped payload docking works Functionality and performance. Mars Emulation Terrain (MET). Good handling capabilities. locking at high torque demand. Obstacle clearance ½ shaft height. Suspension performed as per expectation Wheel structure held well Grousers needed reinforcement

Field TestingField Testing--2 2 Traction performance-Field drawbar pull test Point turn power was measured-significant. Point turn lateral loads Payload basket tests-roll issues Human driver tests Lithium Ion battery extended autonomy x3 Reliability Lun-100-CSA-MET Rover Test Profile

Field Testing Field Testing

P7P10P8

P14

P9

P13

P33

P25P1

5

P1

P2

P3

P27

P4

P28

P5 P29

P22

P18

P26

P19

P20

P17

P6

P21

P11

P23

P12

P24

P16

P32

P31

P30

P35

P34

P37 P3

6

P38

P39

Test Points

Drive PointsTest ObstacleTest Point Turn

Fig 2. Luna-100-CSA-MET Rover Test Profile -Inner component

UU--Shaped Chassis ChallengesShaped Chassis Challenges Managing rover space

envelope

Payload and rover having separate thermal systems

Generic electromechanical rover payload interface.

ConclusionConclusionPresented:Presented:

Description of PUDDescription of PUD--I and PUDI and PUD--II multi utility II multi utility UU--shaped prototypes.shaped prototypes.

Experimental results demonstrated the utility Experimental results demonstrated the utility of the PUDof the PUD--II concept.II concept.

Operational utility of this configuration.Operational utility of this configuration. Challenges and implication of using the UChallenges and implication of using the U--

shaped chassis.shaped chassis.

Future WorkFuture Work Suspension damping and tuning Suspension damping and tuning significant reduction of mass significant reduction of mass More efficient motor gearheadMore efficient motor gearhead dede--centralized thermal systemcentralized thermal system Managing the chassis space volumeManaging the chassis space volume Rover Rover ––based robust solar array based robust solar array

HUIS TER Duin,KNRM & UHUIS TER Duin,KNRM & U--ShapeShape

Courtesy Royal Netherlands Sea Rescue Organization