1 / 126

Rovers Mechanics

Rovers Mechanics. Joseph T. Wunderlich, Ph.D. “Lunar Roving Vehicle” (LRV). Mechanical Design. Image from: http://www.batsinthebelfry.com/rover/index.php. Mechanical Design. Lunar Rover. 1960’s and 1970’s.

stuart
Download Presentation

Rovers Mechanics

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Rovers Mechanics Joseph T. Wunderlich, Ph.D.

  2. “Lunar Roving Vehicle” (LRV) Mechanical Design Image from: http://www.batsinthebelfry.com/rover/index.php

  3. Mechanical Design Lunar Rover 1960’s and 1970’s Moon has only 1/6 of Earth’s gravity, and therefore different stability, maneuverability, and controllability concerns Bendix Corporation Images from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

  4. “Lunar Roving Vehicle” (LRV) Mechanical Design Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006. Only 0.25 HP ! since Moon’s gravity is only 1/6 of Earth’s

  5. “Lunar Roving Vehicle” (LRV) Mechanical Design Astronauts needed to become accustomed to driving and working in 1/6 of Earth’s gravity Airplane diving from high altitudes simulated reduced gravity Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

  6. “Lunar Roving Vehicle” (LRV) Mechanical Design Each motor independently driven This yields a very tight turning radius Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

  7. “Lunar Roving Vehicle” (LRV) Mechanical Design Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006. Bulky pressurized space suites need to be considered in vehicle design

  8. “Lunar Roving Vehicle” (LRV) Mechanical Design 1971 Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006. 1/6 Earth’s gravity significantly effects maneuverability and controllability

  9. Mechanical Design Lunar Rover Extensive wheel, motors, and suspension TESTING Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

  10. Mechanical Design Lunar Rover Extensive TESTING SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

  11. Mechanical Design Lunar Rover Extensive TESTING SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

  12. Mechanical Design Lunar Rover Extensive TESTING SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

  13. Mechanical Design Lunar Rover Extensive TESTING SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

  14. Mechanical Design Lunar Rover Extensive TESTING SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

  15. Mechanical Design Lunar Rover Extensive TESTING SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

  16. Mechanical Design Lunar Rover Extensive TESTING SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

  17. Mechanical Design Lunar Rover Extensive TESTING SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

  18. Mechanical Design Lunar Rover Extensive TESTING SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

  19. Mechanical Design Lunar Rover Extensive TESTING SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

  20. Mechanical Design Lunar Rover Extensive TESTING SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

  21. Mechanical Design Lunar Rover Extensive TESTING SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

  22. Mechanical Design Lunar Rover Extensive TESTING SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

  23. Mechanical Design Lunar Rover Extensive TESTING SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

  24. Mechanical Design Lunar Rover Extensive TESTING SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

  25. Mechanical Design Lunar Rover Extensive TESTING SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

  26. Mechanical Design Lunar Rover Extensive TESTING SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

  27. Mechanical Design Lunar Rover Extensive TESTING SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

  28. Mechanical Design Lunar Rover Extensive TESTING SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

  29. Mechanical Design Lunar Rover Extensive TESTING SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

  30. Mechanical Design Lunar Rover Extensive TESTING SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

  31. Mechanical Design Lunar Rover Extensive TESTING SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

  32. Mechanical Design Lunar Rover Extensive TESTING SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

  33. Wheel Configurations for Rolling Vehicles SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.

  34. Wheel Configurations for Rolling Vehicles SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.

  35. Wheel Configurations for Rolling Vehicles SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.

  36. Wheel Configurations for Rolling Vehicles SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.

  37. SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.

  38. Wheel Configurations for Rolling Vehicles SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.

  39. Wheel Configurations for Rolling Vehicles SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.

  40. “Lunar Roving Vehicle” (LRV) Mechanical Design 1971 Is a wheeled vehicle the best choice for all environments? Maybe take a look at some Biologically inspired forms of locomotion.

  41. Human SkeletonHunter/gathererTool manipulator

  42. Basic Human Structural Pieces:Limited-motion ball joints (shoulder, wrist, etc.)Limited-motion semi-hinged joints (elbow, knee, etc.) Kinematic chain (spine)Marrow-filled Calcium Bones7-Degree Of Freedom redudandant-manipulator arms= f (dexterity / tool-manipulation)

  43. Alternative Biological Structural Pieces?No bonesHollow bonesHoneycombed bonesDislocatable joints

  44. Alternative Biological Architectures:QuadrupedTentaclesTailTalonsExoskeletonWingsHyperredundant manipulators = f (Different Gait)= f (protection/survival)= f (hunting )maybe= f (Aerodynamics, Fluid Mechanics)

  45. Models Image from: http://www.3dkingdoms.com/ik.htm Image from: http://www.3dkingdoms.com/ik.htm VIDEO: http://mocap.cs.cmu.edu/search.php?subjectnumber=%25&motion=%25

  46. Man-made Structural Pieces:- Wheels- Unlimited rotation revolute joints - Prismatic links- Cables Image from: http://honda-p3.com/3/3c/honda-introduced-the-robot-asimo-2.html VIDEO: http://mocap.cs.cmu.edu/search.php?subjectnumberhttp://www.youtube.com/watch?v=Q3C5sc8b3xM

  47. Man-Made Architectures:Vehicles (wheels, treads)Rigid wings with flapsThruster systemsServo linkages= f (protection / survival)= f (dexterity / tool-manipulation)= f (search objectives)maybe= f (Aerodynamics, Fluid Mechanics) Image from: http://honda-p3.com/3/3c/honda-introduced-the-robot-asimo-2.html VIDEO: http://mocap.cs.cmu.edu/search.php?subjectnumberhttp://www.youtube.com/watch?v=Q3C5sc8b3xM

  48. Must also consider internal mechanics

  49. Human MusclesElectrochemical contraction of protein fiber bundles

  50. Biological Alternatives:FeathersFinsCellulose fibers

More Related