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Case Study: Lunar Roving Vehicle

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Case Study: Lunar Roving Vehicle 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.
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