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Hyperion Mobility Testing Dimi Apostolopoulos Michael Wagner Kevin Peterson July 28, 2003 Lab and Field Differences Current limits increased to 5 A continuous Rover mass 140 kg in the lab, 180 kg in field Load cell Wall Direction of travel Steel cable Drawbar Pull Tests

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hyperion mobility testing

Hyperion Mobility Testing

Dimi Apostolopoulos

Michael Wagner

Kevin Peterson

July 28, 2003

Carnegie Mellon

lab and field differences
Lab and Field Differences
  • Current limits increased to 5 A continuous
  • Rover mass 140 kg in the lab, 180 kg in field

Carnegie Mellon

drawbar pull tests

Load cell

Wall

Direction of travel

Steel cable

Drawbar Pull Tests
  • Drawbar pull is the force a vehicle can pull on a given soil
  • The drawbar pull is measured by attaching the robot to a load cell and steel cable
    • The robot is driven until the cable is tensioned and its wheels begin to slip
    • The drawbar pull is the maximum force sensed by the load cell

Carnegie Mellon

drawbar pull tests4
Drawbar Pull Tests
  • Drawbar pull is a useful metric because it can be used to find the maximum climbable slope for a given soil type:
  • Max slope = atan(DP / weight)
  • Performed tests in cohesionless sand
  • This soil provides very little traction, similar to regions of loose sand seen in the Atacama

Carnegie Mellon

drawbar pull tests results
Drawbar Pull Tests – Results
  • Robot driving normally
  • Cable tension rapidly increases
  • Wheels slipping
  • Motion controller fault, at least one wheel stops servoing
  • Robot reverses, cable goes slack

c

Max DP: 550 N

Max slope: 22 deg

d

b

e

a

Carnegie Mellon

flat floor and climbing tests
Flat Floor and Climbing Tests
  • Torque is calculated through the following equation:
  • T =
  • These torque measurements are most accurate when robot driving straight and at higher velocities

h I V

h = 0.35

v / r

Carnegie Mellon

sandbox power
Sandbox – Power

Carnegie Mellon

sandbox torque
Sandbox – Torque

Carnegie Mellon

slope climbing tests
Slope Climbing Tests

Carnegie Mellon

slope climbing 10 deg
Slope Climbing: 10 deg

Wheels climbing

onto ramp

35 Nm

Entire robot

climbing ramp

Wheels climbing

onto ramp

Entire robot

climbing ramp

20 Nm

Carnegie Mellon

slope climbing 30 deg
Slope Climbing: 30 deg

Entire robot

climbing ramp

50 Nm

Entire robot

climbing ramp

65 Nm

Carnegie Mellon

maximum obstacle climb in the desert
Maximum Obstacle Climb in the Desert
  • Robot is stopped
  • Left front wheel starts to climb
  • Left front wheel peaksthe obstacle at a height of 0.239 meters
  • All four wheels are on flat ground, left rear wheel starts to climb
  • Left rear wheel peaks the obstacle
  • Left rear wheel hits the ground and bounces

b

e

a

c

f

d

Carnegie Mellon

rolling resistance comparisons
Rolling Resistance Comparisons
  • Rolling resistance is the ratio of tractive force to vehicle weight
  • Tractive force is dependent on soil properties
  • Rolling resistance in sandbox: 0.03
  • Rolling resistance on concrete floor: 0.02
  • Rolling resistance on ramp: 0.26
  • Rolling resistance in the desert: 0.08

Carnegie Mellon