Case Study: Lunar Roving Vehicle
© 2014 David L. Akin - All rights reserved http://spacecraft.ssl.umd.edu U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 1 Concepts for Lunar Equipment Carriers
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 2 Concepts for Lunar Equipment Carriers
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 3 Concepts for Lunar Equipment Carriers
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 4 Modular Equipment Transporter
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 5 MET Structure
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 6 MET Equipment Load (Apollo 14)
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 7 Pneumatic Tire Specifications
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 8 Thermal Vacuum Testing of Wheels
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 9 Towing Force vs. Vehicle Weight (Moon)
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 10 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 ) U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 11 LRV Three-View and Dimensions
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 12 LRV Payload Components
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 13 LRV in Stowed Configuration
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 14 LRV Deployment (1-6)
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 15 LRV Deployment Sequence (7-12)
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 16 LRV Deployment Sequence (13-15)
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 17 LRV Speed Capabilities
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 18 LRV Chassis Structure
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 19 LRV Wheel Suspension
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 20 LRV Wheel Steering Connections
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 21 LRV Wheel Motor and Gearing
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 22 Apollo 17 LRV Wheel and Fender
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 23 LRV Wheel Design Details
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 24 LRV Wheel Testing
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 25 LRV Wheel Deflection
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 26 Location of LRV Center of Gravity
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 27 LRV Static Stability
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 28 Limiting Velocity for Obstacle Impact
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 29 Sliding Limit in Turn (µ=0.8)
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 30 LRV Overturn Limits in Turning
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 31 Turning Radius with CG Shift - 0° Slope
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 32 Turning Radius with CG Shift - 20° Slope
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 33 Turning Radius Limit for Higher CG
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 34 LRV Top Speed Limits (Struct. Fatigue)
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 35 LRV Power Requirements - 0° Slope
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 36 LRV Power Requirements - 5° Slope
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 37 LRV Power Requirements - 10° Slope
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 38 LRV Traction Drive Performance
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 39 Battery Current vs. Speed
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 40 Wheel Motor Temperature vs. Slope
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 41 Power Usage by System
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 42 LRV Wheel Loading
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 43 Drive Motor Characteristics
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 44 LRV Stopping Distance vs. Speed/Slope
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 45 LRV Terrain Design Cases • Crevasse crossing capability 70 cm • Step Obstacle Climbing Capability 35 cm • Clearance under chassis 35 cm
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 46 LRV Mobility Parameters
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 47 Apollo 15 Terrain (“Lurain”)
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 48 Apollo 15 LRV
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 49 Apollo 16 “Lunar Grand Prix”
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 50 Apollo 16 LRV (image stabilized)
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 51 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
U N I V E R S I T Y O F Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics MARYLAND 52