Universal Chassis for Modular Ground Vehicles

1. Universal Chassis for Modular Ground Vehicles University of Michigan Mars Rover Team Presented by Eric Nytko August 6, 2005 The 2nd Mars Expedition Planning Workshop

2. Overview • University of Michigan Mars Rover Team • Concept of the Universal Modular Chassis • Vehicle Classification • Core Technologies • Examples of Configurations and Mission Scenarios • Conclusions Universal Chassis for Modular Ground Vehicles

3. Michigan Mars Rover Team • Student research group founded in 2000 • Designs, fabricates, and tests manned ground vehicles for planetary exploration • Inspires and educates students about space exploration • 2nd place in RASC-AL Forum’05 with Universal Chassis Concept Universal Chassis for Modular Ground Vehicles

4. Mobility Challenges • Mars Exploration Rovers • Speed: 0.18 km/hr • Payload: 45 kg • Future Capabilities • Speed: 20 km/hr • Payload: 3000 kg • Support long-range, long-term human operations Universal Chassis for Modular Ground Vehicles

5. Concept of the Universal Modular Chassis • Developmental Advantages • More thorough design and testing • Reutilization of research resources • Standardization of procedures and equipment • Operational Advantages • Less total launch mass • Increased redundancy and mission flexibility • Increased crew experience • Disadvantages • Unused subsidiary capabilities • Design complexity Universal Chassis for Modular Ground Vehicles

6. Vehicle Types and Functional Requirements • Robotic Exploration Rover • Pre-EVA scouting • EVA Assistant • All Terrain Vehicle • Single-person mobility • Unpressurized Rover • Short-range crew transport • Utility Truck • Equipment transport • Pressurized Rover • Long-range crew transport • Construction Rover • Nuclear reactor transport • Road grading • Creating banks of soil Universal Chassis for Modular Ground Vehicles

7. Classifications Universal Chassis for Modular Ground Vehicles

8. Core Technologies • Interfaces and modularity • Computing • Drive control • Hub motors • Mobility • Fuel cells and fuel storage Universal Chassis for Modular Ground Vehicles

9. Interfaces and Modularity • Chassis must provide • Power • Communication with modules • Structural support • Thermal control • Allows for body modularity and chassis universality Universal Chassis for Modular Ground Vehicles

10. Computing • Software and hardware modularity • Modular development infrastructure • Autonomous or semi-autonomous operation Universal Chassis for Modular Ground Vehicles

11. Drive Control • Eliminates hydraulic and mechanical linkages • Reduces launch mass • Robust and redundant control • Incorporates both autonomy and human control • Commercial automotive solution in rad-hard applicable Universal Chassis for Modular Ground Vehicles

12. Hub Motors • Power individual wheels • Greater motion control • Interface with electronic drive control • Higher efficiency and redundancy Universal Chassis for Modular Ground Vehicles

13. Vehicle mobility is dependent on suspension and wheels Suspension Reduces effects of rough terrain Supports vehicle weight Maintains wheel contact for sufficient traction Controls direction of travel Wheels Critical to overcoming obstacles Reduce effects of inconsistent terrain Mobility Universal Chassis for Modular Ground Vehicles

14. Fuel Cells and Fuel Storage • Power system affects design, capabilities, and mission architecture • Fuel cells • More efficient than other power systems • Adaptable • Scalable • Easily configured to fit universal chassis platforms • Fuel storage • Liquid methane and oxygen • Pressurized tanks Universal Chassis for Modular Ground Vehicles

15. Design Overview • Universal chassis comparison • Small chassis design • Medium chassis design • Large chassis design • Modularity example Universal Chassis for Modular Ground Vehicles

16. Universal Chassis Comparison 3000 kg Carrying capacity 300 kg 150 kg 2000 kg 400 kg 1m 250 kg 0.6m 0.3m 4.5m 1.9m 2.5m 2.5m 4.8m 1.7m 120 kW 2000 kW-hr 1.2m 16kW 24 kW-hr 8 kW 6 kW-hr 3.0m 1.9m Universal Chassis for Modular Ground Vehicles

17. Small Chassis Design Interfaces Oxygen Storage Fuel Cell Hub Motors Mobility Methane Storage Reformer Computing Universal Chassis for Modular Ground Vehicles

18. Medium Chassis Design Interfaces Oxygen Storage Fuel Cell Hub Motors Mobility Methane Storage Reformer Computing Universal Chassis for Modular Ground Vehicles

19. Large Chassis Design Interfaces Oxygen Storage Methane Storage Hub Motors Reformer Computing Mobility Fuel Cell Universal Chassis for Modular Ground Vehicles

20. Modularity Example: Small Chassis The same small chassis can support both ATV and EVA assistant functions and be reconfigured in the field Universal Chassis for Modular Ground Vehicles

21. Mission Scenario Example for Small Chassis • Mission with multiple dispersed sites (scouting): • Use Small Chassis with ATV and Robotic Exploration Rover payloads to cover more ground • Mission with small number of interesting sites (in-depth site exploration): • Use Small Chassis with EVA Assistant payload to investigate the site during EVA Universal Chassis for Modular Ground Vehicles

22. Modularity Example: Large Chassis The same large chassis can support both the Construction VehicleandPressurized Rover Universal Chassis for Modular Ground Vehicles

23. Mission Scenario Example for Large Chassis • Land vehicle with Nuclear Reactor Deployment payload • Deploy nuclear reactor before crew arrives • Use Construction payload for base construction • Use Pressurized payload for long range exploration Universal Chassis for Modular Ground Vehicles

24. Conclusions • Universal chassis concept will support a variety of missions and mission scenarios for all aspects of base operation • Cost sharing with other technology sources will reduce development expenses • Development plan must leverage current and future automotive technology Universal Chassis for Modular Ground Vehicles

25. Questions? Universal Chassis for Modular Ground Vehicles