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Reconfigurable Wheels: Re-Inventing the Wheel for the Next Generation of Planetary Rovers

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Reconfigurable Wheels: Re-Inventing the Wheel for the Next Generation of Planetary Rovers Reconfigurable Wheels: Re-Inventing the Wheel for the Next Generation of Planetary Rovers by Brittany Baker B.S. Aeronautics and Astronautics Massachusetts Institute of Technology, 2008 Submitted to the Department of Aeronautics and Astronautics in Partial Fulfillment of the Requirements for the Degree of Master of Science in Aeronautics and Astronautics at the MASSACHUSETTS INSTITUTE OF TECHNOLOGY February 2012 © Massachusetts Institute of Technology 2012. All rights reserved. Author……………………………………………………………………………………………………………………………………. Department of Aeronautics and Astronautics February 2, 2012 Certified by……………………………………………………………………………………………………………………………… Olivier L. de Weck Associate Professor of Aeronautics and Astronautics Associate Professor of Engineering Systems Thesis Supervisor Accepted by……………………………………………………………………………………………………………………………. Eytan H. Modiano Professor of Aeronautics and Astronautics Chair, Committee on Graduate Students 2 Reconfigurable Wheels: Re-Inventing the Wheel for the Next Generation of Planetary Rovers by Brittany Baker Submitted to the Department of Aeronautics and Astronautics on February 2, 2012 in Partial Fulfillment of the Requirements for the Degree of Master of Science in Aeronautics and Astronautics Abstract Experiences with Spirit and Opportunity, the twin Mars Exploration Rovers, showed that one of the major issues that needs to be addressed in order to expand the exploration capabilities of planetary rovers is that of wheel traction. The relationships governing how much traction a wheel can produce are highly dependent on both the shape of the wheel and terrain properties. These relationships are complex and not yet fully understood. The amount of power required to drive a wheel is also dependent on its shape and the terrain properties. Wheel sizes that tend to maximize traction also tend to require more power. In the past, it has always been a challenge to find the right balance between designing a rover wheel with high traction capabilities and low power requirements. More recently, researchers invented the idea of a reconfigurable wheel which would have the ability to change its shape to adapt to the type of terrain it was on. In challenging terrain environments, the wheel could configure to a size that would maximize traction. In less challenging terrain environments, the wheel could configure to a size that would minimize power. Theoretical simulation showed that the use of reconfigurable wheels could improve tractive performance and some initial prototyping and experimental testing corroborated those findings. The purpose of this project was to extend that prototyping and experimenting. Four reconfigurable wheels were designed, built, and integrated onto an actual rover platform. A control methodology whereby the wheels could autonomously reconfigure was also designed, implemented, and demonstrated. The rover was then tested in a simulated Martian environment to assess the effectiveness of the reconfigurable wheels. During the tests, the power consumption and the distance traveled by the rover were both measured and recorded. In all tests, the wheels were able to successfully reconfigure and the rover continued to advance forward; but as was expected, the reconfigurable wheel system consumed more power than a non-reconfigurable wheel system. In the end, the results showed that if maximizing vehicle traction was weighed more heavily than minimizing power consumption, the use of reconfigurable wheels yielded a net gain in performance. Thesis Supervisor: Olivier L. de Weck Title: Associate Professor of Aeronautics and Astronautics and Engineering Systems 3 4 Acknowledgements This project would not have been possible without the support of many people and I would be remiss if I did not publicly express my thanks to a number of individuals. First, I would like to thank my advisor, Olivier de Weck. I had the privilege of working with Professor de Weck as part of my 62x project and was grateful for the chance to continue working on this project with him as a graduate student. I am grateful for all of his support and guidance. Secondly, I would like to thank Jessica Duda of Aurora Flight Sciences. Jessica served as a mentor for me throughout the course of this project. Her assistance and guidance were invaluable to me, especially during the time that Professor de Weck was on sabbatical. Jessica provided a lot of encouragement and support when things went wrong. She not only helped me solve technical issues specific to my project but also taught me how to be a better engineer in general. Thirdly, I owe enormous thanks to Todd Billings, Dave Robertson, and Dick Perdichizzi. The three of them constitute the Aero/Astro technical lab staff. I never would have been able to finish my project without their advice and help. I spent many hours in the machine shop, Gelb lab, and hangar, and even when my parts broke or blew up, Todd and Dave kept me laughing the entire time and helped me push through a lot of discouraging and frustrating moments. I owe a huge thanks to my friends Donna Hunter, Cynthia Furse, Stephanie Ketchum, David Lazzara, John Gardner, Lisa Clarke, Marytheresa Ifediba, and Bill and Jo Maitland. Each of these people has provided me with tremendous support, encouragement and love. Their small acts of kindness often came when I most needed it. In moments of self-doubt or discouragement they patiently listened to me, cheered me on, and kept believing in me even when I lost belief in myself. I am eternally in their debt. Last, but certainly not least, I would like to thank my parents and siblings. My family is eternal and one of the greatest blessings I have ever been given in life. I was born of goodly parents who raised me in the ways of truth and righteousness. Their love for me is unconditional, their sacrifices innumerable, and I could never do enough to sufficiently repay them for all that they have done and continue to do for me. 5 6 Table of Contents Nomenclature ............................................................................................................................................. 15 1.0 Introduction .......................................................................................................................................... 17 1.1 Motivation ......................................................................................................................................... 17 1.2 Objective and Goals .......................................................................................................................... 18 2.0 Background Research and Previous Work ............................................................................................ 19 2.1 Past Rovers and Their Wheels........................................................................................................... 19 2.2 Terramechanics ................................................................................................................................. 24 2.3 Concept Development ...................................................................................................................... 28 2.4 62x project ....................................................................................................................................... 29 3.0 Conceptual Design and Development ................................................................................................... 32 3.1 General Challenges and Influence Diagram ...................................................................................... 32 3.2 Three Different Wheel Designs ......................................................................................................... 33 3.3 Wheel Sizing and Simulation ............................................................................................................. 37 3.4 Strength Modeling (Deflection and Force) ....................................................................................... 39 Simple Beam Theory: .......................................................................................................................... 39 Simple Beam Theory Results ............................................................................................................... 40 3.5 Reconfigurability Metrics .................................................................................................................. 42 3.6 Design Selection ................................................................................................................................ 44 4.0 Fabrication and Assembly ..................................................................................................................... 45 4.1 Rover Platform Selection .................................................................................................................. 45 4.2 Material and Part Selection .............................................................................................................. 45 4.3 Wheels and Platform Integration ..................................................................................................... 47 4.4 Assembly ........................................................................................................................................... 50 4.5 Initial Drive Testing ........................................................................................................................... 53 5.0 Integration, Autonomy, and Control ....................................................................................................
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