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Wheel Design and Tension Analysis for the Tethered Axel Rover on Extreme Terrain

Axel. Wheel Design and Tension Analysis for the Tethered Axel Rover on Extreme Terrain. Pablo Abad-Manterola Dr. Joel Burdick (Caltech) Dr. Issa Nesnas (JPL). IEEE Aerospace March 9, 2009. Motivation. Unnamed crater in Centauri Montes region on Mars. Motivation.

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Wheel Design and Tension Analysis for the Tethered Axel Rover on Extreme Terrain

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  1. Axel Wheel Design and Tension Analysis for the Tethered Axel Rover on Extreme Terrain Pablo Abad-Manterola Dr. Joel Burdick (Caltech) Dr. Issa Nesnas (JPL) IEEE Aerospace March 9, 2009

  2. Motivation Unnamed crater in Centauri Montes region on Mars

  3. Motivation Older light-toned deposit New gully deposit Unnamed crater in Terra Sirenum region on Mars

  4. Motivation Cape St. Vincent, Victoria Crater, Mars False Color Image Taken by the Opportunity Rover

  5. Mission Concept

  6. System • Original 1999 Concept • Minimally actuated rover • Separate mobility elements from • payload elements • Current Configuration • Body itself is the winch • Simple and robust: only 3 actuators • Sampling device mounted on arm

  7. System • Processing • PC/104 Main Processor (700 MHz, 128 MB RAM) • Flash Memory (Disk-on-Chip) 704 MB • 2 GB IDE Solid State Drive • Caster Link • Caster Link Motor (24V, 150W) • Gearbox (74:1) • 500 Count Encoder • Drive System • Servodisc Drive Motor (30V, 153W) • Harmonic Drive • PC/104 Motor Controller • 500 Count Encoder • Power • 24V Lithium Polymer Battery • PC/104 DC/DC Converter • Vision • Dragonfly Firewire Cameras • PC/104 Firewire Board

  8. Experiments Smithsonian Folklife Festival NASA: 50 Years Celebration Washington, DC June 25 – July 6, 2008

  9. Experiments Smithsonian Folklife Festival NASA: 50 Years Celebration Washington, DC June 25 – July 6, 2008

  10. Wheels Design Aluminum rim with golf cleat spikes Snow mountain bike tires Aluminum paddles on plastic frame

  11. Wheels Design No-slip: and for

  12. Wheels Design No-Slip Slip No-Slip Slip

  13. Wheels Experiments • Mountain Bike Tires • Performance decrease from original • spiked wheels • Tests carried out at high, medium, • and low inflation • Paddle-wheels • Climbed over rocks ~70% wheel diameter • Surpassed a 12” step-obstacle • Ascended a 30° slope untethered

  14. Tether Analysis

  15. Tether Analysis

  16. Tether Analysis

  17. Recent Experiments January 14th Demo for Sponsors

  18. Conclusion Acknowledgements Advisors Dr. Joel Burdick Dr. Issa Nesnas Dr. Srikanth Saripalli Graduate Students Jeff Edlund Undergraduates Johanna Cecava Nam Nguyen Kevin Noertker Tom Oliver Chun-Che Peng

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