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Rovers Mechanics. Joseph T. Wunderlich, Ph.D. “Lunar Roving Vehicle” (LRV). Mechanical Design. Image from: http://www.batsinthebelfry.com/rover/index.php. Mechanical Design. Lunar Rover. 1960’s and 1970’s.

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Rovers mechanics

Rovers Mechanics

Joseph T. Wunderlich, Ph.D.


Rovers mechanics

“Lunar Roving Vehicle”

(LRV)

Mechanical Design

Image from: http://www.batsinthebelfry.com/rover/index.php


Lunar rover

Mechanical Design

Lunar Rover

1960’s and 1970’s

Moon has only 1/6 of Earth’s gravity, and therefore different stability, maneuverability, and controllability concerns

Bendix Corporation

Images from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.


Rovers mechanics

“Lunar Roving Vehicle” (LRV)

Mechanical Design

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

Only

0.25 HP !

since

Moon’s gravity is only 1/6 of Earth’s


Rovers mechanics

“Lunar Roving Vehicle” (LRV)

Mechanical Design

Astronauts needed to become accustomed to driving and working in 1/6 of Earth’s gravity

Airplane diving from high altitudes simulated reduced gravity

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.


Rovers mechanics

“Lunar Roving Vehicle” (LRV)

Mechanical Design

Each motor independently driven

This yields a very tight turning radius

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.


Rovers mechanics

“Lunar Roving Vehicle” (LRV)

Mechanical Design

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

Bulky pressurized space suites need to be considered in vehicle design


Rovers mechanics

“Lunar Roving Vehicle” (LRV)

Mechanical Design

1971

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

1/6 Earth’s gravity significantly effects

maneuverability and controllability


Lunar rover1

Mechanical Design

Lunar Rover

Extensive wheel, motors, and suspension TESTING

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.


Lunar rover2

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.


Lunar rover3

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.


Lunar rover4

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.


Lunar rover5

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.


Lunar rover6

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.


Lunar rover7

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.


Lunar rover8

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.


Lunar rover9

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.


Lunar rover10

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.


Lunar rover11

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.


Lunar rover12

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.


Lunar rover13

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.


Lunar rover14

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.


Lunar rover15

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.


Lunar rover16

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.


Lunar rover17

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.


Lunar rover18

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.


Lunar rover19

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.


Lunar rover20

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.


Lunar rover21

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.


Lunar rover22

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.


Lunar rover23

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.


Lunar rover24

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.


Wheel configurations for rolling vehicles
Wheel Configurations for Rolling Vehicles

SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.


Wheel configurations for rolling vehicles1
Wheel Configurations for Rolling Vehicles

SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.


Wheel configurations for rolling vehicles2
Wheel Configurations for Rolling Vehicles

SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.


Wheel configurations for rolling vehicles3
Wheel Configurations for Rolling Vehicles

SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.


Rovers mechanics

SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.


Wheel configurations for rolling vehicles4
Wheel Configurations for Rolling Vehicles

SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.


Wheel configurations for rolling vehicles5
Wheel Configurations for Rolling Vehicles

SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.


Rovers mechanics

“Lunar Roving Vehicle” (LRV)

Mechanical Design

1971

Is a wheeled vehicle the best choice for all environments?

Maybe take a look at some Biologically inspired forms of locomotion.


Human skeleton hunter gatherer tool manipulator
Human SkeletonHunter/gathererTool manipulator


Rovers mechanics

Basic Human Structural Pieces:Limited-motion ball joints (shoulder, wrist, etc.)Limited-motion semi-hinged joints (elbow, knee, etc.) Kinematic chain (spine)Marrow-filled Calcium Bones7-Degree Of Freedom redudandant-manipulator arms= f (dexterity / tool-manipulation)


Rovers mechanics
Alternative Biological Structural Pieces?No bonesHollow bonesHoneycombed bonesDislocatable joints


Rovers mechanics

Alternative Biological Architectures:QuadrupedTentaclesTailTalonsExoskeletonWingsHyperredundant manipulators = f (Different Gait)= f (protection/survival)= f (hunting )maybe= f (Aerodynamics, Fluid Mechanics)


Models
Models

Image from: http://www.3dkingdoms.com/ik.htm

Image from: http://www.3dkingdoms.com/ik.htm VIDEO: http://mocap.cs.cmu.edu/search.php?subjectnumber=%25&motion=%25


Man made structural pieces wheels unlimited rotation revolute joints prismatic links cables
Man-made Structural Pieces:- Wheels- Unlimited rotation revolute joints - Prismatic links- Cables

Image from: http://honda-p3.com/3/3c/honda-introduced-the-robot-asimo-2.html

VIDEO: http://mocap.cs.cmu.edu/search.php?subjectnumberhttp://www.youtube.com/watch?v=Q3C5sc8b3xM


Rovers mechanics

Man-Made Architectures:Vehicles (wheels, treads)Rigid wings with flapsThruster systemsServo linkages= f (protection / survival)= f (dexterity / tool-manipulation)= f (search objectives)maybe= f (Aerodynamics, Fluid Mechanics)

Image from: http://honda-p3.com/3/3c/honda-introduced-the-robot-asimo-2.html

VIDEO: http://mocap.cs.cmu.edu/search.php?subjectnumberhttp://www.youtube.com/watch?v=Q3C5sc8b3xM



Human muscles electrochemical contraction of protein fiber bundles
Human MusclesElectrochemical contraction of protein fiber bundles


Biological alternatives feathers fins cellulose fibers
Biological Alternatives:FeathersFinsCellulose fibers


Man made actuators motors pistons cables electromehanical pneumatic hydraulic
Man-made ActuatorsMotorsPistonsCablesElectromehanicalPneumaticHydraulic

Image from: http://honda-p3.com/3/3c/honda-introduced-the-robot-asimo-2.html

VIDEO: http://mocap.cs.cmu.edu/search.php?subjectnumberhttp://www.youtube.com/watch?v=Q3C5sc8b3xM


Human gait compared to rolling
Human Gait compared to Rolling

SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.


Human gait compared to rolling1
Human Gait compared to Rolling

SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.


More mobility options
More Mobility Options

Quadrupeds

Image from: http://www.bostondynamics.com/robot_bigdog.html


More mobility options1
More Mobility Options

Boston Dynamics

Quadrupeds

Image from: http://www.bostondynamics.com/robot_bigdog.html


More mobility options2
More Mobility Options

Boston Dynamics

Quadrupeds

Image from: http://www.bostondynamics.com/robot_bigdog.html


More mobility options3
More Mobility Options

Boston Dynamics

“Big Dog”

Quadrupeds

Image from: http://www.bostondynamics.com/robot_bigdog.html


More mobility options4
More Mobility Options

Boston Dynamics

“Big Dog”

Quadrupeds

Image from: http://www.bostondynamics.com/robot_bigdog.html


More mobility options5
More Mobility Options

Boston Dynamics

“Big Dog”

Quadrupeds

Image from: http://www.bostondynamics.com/robot_bigdog.html


More mobility options6
More Mobility Options

Boston Dynamics

“Big Dog”

Quadrupeds

Image from: http://www.bostondynamics.com/robot_bigdog.html


More mobility options7
More Mobility Options

VIDEO: http://www.youtube.com/watch?v=W1czBcnX1Ww

Boston Dynamics

“Big Dog”

Quadrupeds

Image from: http://www.bostondynamics.com/robot_bigdog.html


More mobility options8
More Mobility Options

Boston Dynamics

Quadrupeds

“Big Dog's on-board computer controls locomotion, servos the legs and handles a variety of sensors. BigDog’s control system keeps it balanced, navigates, and regulates its energetics as conditions vary. Sensors for locomotion include joint position, joint force, ground contact, ground load, a gyroscope, LIDAR and a stereo vision system. Other sensors focus on the internal state of BigDog, monitoring the hydraulic pressure, oil temperature, engine functions, battery charge and others.”

SOURCE: http://www.bostondynamics.com/robot_bigdog.html


More mobility options9
More Mobility Options

John Deere Co.

> 4 legs

VIDEO: http://www.youtube.com/watch?v=0gk-yQ1H3M8

Justin Vincent

(J. Wunderlich student)

Image from: http://www.ito-germany.de/video/harvester/Clambunk


Mobility options
Mobility Options

SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.



Mars rovers

Mechanical Design

Mars Rovers

NASA/JPL “Rocky 3”

1990’s

Rocker

bogie

suspension system allow vehicles to climb over rocks and through holes

Image from: www.robotfrontier.com/gallery.html


Mars rovers1

Mechanical Design

Mars Rovers

1990’s

“Rocky 3”

Image from: marsprogram.jpl.nasa.gov/.../2001-2004.html

Rocker

bogie


Mars rovers2

Mechanical Design

Mars Rovers

Mars Pathfinder “Sojourner”

1990’s

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

Rocker

bogie


Mars rovers3

Mechanical Design

Mars Rovers

Mars Pathfinder “Sojourner”

1996

Image from: marsprogram.jpl.nasa.gov/.../2001-2004.html

Rocker

bogie


Mars rovers4

Mechanical Design

Mars Rovers

NASA/JPL “FIDO”

2000’s

Image from: http://www-robotics.jpl.nasa.gov/systems/system.cfm?System=1

Rocker

bogie


Mars rovers5

Mechanical Design

Mars Rovers

Mars Explorer Rovers (MER) “Spirit” & “Opportunity”

2000’s

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

Rocker

bogie


Mars rovers6

Mechanical Design

Mars Rovers

“Spirit” & “Opportunity”

2000’s

All six wheels have motors

Two front and two rear wheels can be steered

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

Rocker

bogie


Mars rovers7

Mechanical Design

Mars Rovers

“Spirit” & “Opportunity”

2000’s

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

Rocker

bogie


Mars rovers8

Mechanical Design

Mars Rovers

NASA/JPL “Rocky 8”

2000’s

Image from: http://www-robotics.jpl.nasa.gov/systems/system.cfm?System=3.

Six

wheels


Mars rovers9

Mechanical Design

Mars Rovers

Mars Science Lab early concept

2000’s

Image from: http://ims.ivv.nasa.gov/mission_pages/mars/missions/marssciencelab-index.html

Rocker

bogie

variation


Mars rovers10

Mechanical Design

Mars Rovers

Mars Science Lab concept

2000’s

Image from: http://centauri.larc.nasa.gov/msl/MSL_cfg-dwg_040608.pdf

Rocker

bogie


Mars rovers11

Mechanical Design

Mars Rovers

Mars Science Lab concept

2000’s

Image from: http://nssdc.gsfc.nasa.gov/planetary/mars_future.html

Rocker

bogie


Mars rovers12

Mechanical Design

Mars Rovers

Mars Science Lab concept

2000’s

Image from: http://www.pbs.org/newshour/indepth_coverage/science/marsrover/slideshow_audio/text.html

Rocker

bogie


Rovers wheels

Mechanical Design

Rovers Wheels

1960’s to 2000’s

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

Image from: http://ppj-web-3.jpl.nasa.gov/gallery

Wheels of Mars Rovers:

(smallest) “Sojourner”

(medium) “Spirit” & “Opportunity”

(Largest) Mars Science Lab

Lunar Rover Wheels

(not to scale with Mars Rover wheels)


Mars rovers13

Mechanical Design

Mars Rovers

ESA “ExoMars” Rover concept

2000’s and 2010’s

Image from: http://science.au.dk/nyheder-og-arrangementer/nyhed/article/dansk-deltagelse-i-marsforskning/

Rocker

bogie


Mars rovers14

Mechanical Design

Mars Rovers

ESA “ExoMars” Rover concept

2000’s and 2010’s

Image from: http://robots.open.ac.uk/space/ExoMars.html

Six

wheels


Mars rovers15

Mechanical Design

Mars Rovers

ESA “ExoMars” Rover concept

2000’s and 2010’s

Image from: http://users.aber.ac.uk/dpb/ExoMars/ExoMars.html

Rocker

bogie

variation


Mars rovers16

Mechanical Design

Mars Rovers

ESA “ExoMars” Rover concept

2000’s and 2010’s

Image from: http://www.space.dtu.dk/upload/institutter/space/forskning/rummet/solsystemet/exomars_lander.jpg

Rocker

bogie


Rocker bogie
Rocker Bogie

SOURCE: R. A. Lindemann and C. J,. Vorhees (2005) Mars Exploration Rover Design, Test, and Performance, 2005, International Conference

on Systems, Man, and Cybernetics, Hawaii, October 10-12, 2005 (http://trs-new.jpl.nasa.gov/dspace/bitstream/2014/37604/1/05-1950.pdf)


Rocker bogie1
RockerBogie

SOURCE: R. A. Lindemann and C. J,. Vorhees (2005) Mars Exploration Rover Design, Test, and Performance, 2005, International Conference

on Systems, Man, and Cybernetics, Hawaii, October 10-12, 2005 (http://trs-new.jpl.nasa.gov/dspace/bitstream/2014/37604/1/05-1950.pdf)


Rocker bogie2
RockerBogie

SOURCE: R. A. Lindemann and C. J,. Vorhees (2005) Mars Exploration Rover Design, Test, and Performance, 2005, International Conference

on Systems, Man, and Cybernetics, Hawaii, October 10-12, 2005 (http://trs-new.jpl.nasa.gov/dspace/bitstream/2014/37604/1/05-1950.pdf)


Rocker bogie3
RockerBogie

SOURCE: R. A. Lindemann and C. J,. Vorhees (2005) Mars Exploration Rover Design, Test, and Performance, 2005, International Conference

on Systems, Man, and Cybernetics, Hawaii, October 10-12, 2005 (http://trs-new.jpl.nasa.gov/dspace/bitstream/2014/37604/1/05-1950.pdf)


Rocker bogie4
RockerBogie

SOURCE: R. A. Lindemann and C. J,. Vorhees (2005) Mars Exploration Rover Design, Test, and Performance, 2005, International Conference

on Systems, Man, and Cybernetics, Hawaii, October 10-12, 2005 (http://trs-new.jpl.nasa.gov/dspace/bitstream/2014/37604/1/05-1950.pdf)


Lunar and mars rovers designed for loose dry soil and rocks
Lunar and Mars Rovers designed for loose dry soil and rocks

  • 1971:

    NASA “Lunar Roving Vehicle” (LRV)

  • Mars Rovers:

    • 1996: NASA Pathfinder “Sojourner”

    • 2004: NASA “Spirit” & “Opportunity”

    • 2011: NASA Mars Science Lab

    • 2016: ESA “ExoMars”

Image from: http://www.batsinthebelfry.com/rover/index.php

Image from: marsprogram.jpl.nasa.gov/.../2001-2004.html

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

Image from: http://nssdc.gsfc.nasa.gov/planetary/mars_future.html

Image from: http://www.nasa.gov/centers/jpl/news/urey-20070209.html


Lunar and mars rovers designed for loose dry soil and rocks1
Lunar and Mars Rovers designed for loose dry soil and rocks

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

Image from: http://ppj-web-3.jpl.nasa.gov/gallery

Wheels of Mars Rovers:

(smallest) “Sojourner”

(medium) “Spirit” & “Opportunity”

(Largest) Mars Science Lab

Lunar Rover Wheels

(not to scale with Mars Rover wheels)


Lunar rovers designed for 17 earth s gravity mars rovers designed for 38 earth s gravity
Lunar Rovers designed for 17% Earth’s gravityMars Rovers designed for 38% Earth’s gravity

  • 1971:

    NASA “Lunar Roving Vehicle” (LRV)

  • Mars Rovers:

    • 1996: NASA Pathfinder “Sojourner”

    • 2004: NASA “Spirit” & “Opportunity”

    • 2011: NASA Mars Science Lab

    • 2016: ESA “ExoMars”

Image from: http://www.batsinthebelfry.com/rover/index.php

Image from: marsprogram.jpl.nasa.gov/.../2001-2004.html

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

Image from: http://nssdc.gsfc.nasa.gov/planetary/mars_future.html

Image from: http://www.nasa.gov/centers/jpl/news/urey-20070209.html


Lunar rovers designed for 17 earth s gravity mars rovers designed for 38 earth s gravity1
Lunar Rovers designed for 17% Earth’s gravityMars Rovers designed for 38% Earth’s gravity

  • 1971:

    NASA “Lunar Roving Vehicle” (LRV)

  • Mars Rovers:

    • 1996: NASA Pathfinder “Sojourner”

    • 2004: NASA “Spirit” & “Opportunity”

    • 2011: NASA Mars Science Lab

    • 2016: ESA “ExoMars”

Image from: marsprogram.jpl.nasa.gov/.../2001-2004.html

Image from: http://nssdc.gsfc.nasa.gov/planetary/mars_future.html

Image from: http://www.nasa.gov/centers/jpl/news/urey-20070209.html

2 Images from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.


Revisiting moon may involve digging deeper using more powerful vehicles
Revisiting moon may involve digging deeper using more powerful vehicles

Images from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.


Rovers mechanics

Let’s look at some rovers designed for a specific Earth environmentIGVC (Intelligent Ground Vehicle Competition)- Flat, wet or dry, grassy obstacle courses with tight turns- Mid-summer competition in Michigan, USA- Obviously 100% Earth gravity


Rovers mechanics

IGVC (Intelligent Ground Vehicle Competition) environment- Flat, wet or dry, grassy obstacle courses with tight turns- Mid-summer competition in Michigan, USA

Our Wunderbots are all Zero Turning Radius vehicles

Wunderbot 3

Wunderbot 2 prototype

Wunderbot 4


Wunderbots originally a test bed for educational collaboration and with variable performance goals
Wunderbots originally a test-bed for educational collaboration- and with variable performance goals

MultEbot 1, 2001

“Wunderbot” 0

Wunderbot 1 “MultEbot 2”

Wunderbot 0 website:

http://users.etown.edu/w/wunderjt/home_wunderbot0.html

Wunderbot 1 website:

http://users.etown.edu/w/wunderjt/StudentProjects/Wunderbot%202003/Wunderbot%20Webpage2003/Robot%20webfiles/index.htm

NOTE: Students announced renaming of MultEbot 2 to “Wunderbot”

at 2001 annual symposium


All recent wunderbots share website http www2 etown edu wunderbot
All recent Wunderbots share website: collaborationhttp://www2.etown.edu/wunderbot/

Wunderbot 3

Wunderbot 2 prototype

Wunderbot 4


Rovers mechanics

IGVC (Intelligent Ground Vehicle Competition) collaboration- Flat, wet or dry, grassy obstacle courses with tight turns- Mid-summer competition in Michigan, USA



Georgia tech
Georgia Tech collaboration











Rochester institute of technology
Rochester Institute of Technology collaboration

Tank Treads


Ecole de technologie superieure canada
Ecole de Technologie Superieure collaboration(Canada)


University of missouri rolla
University of Missouri, Rolla collaboration

Tri-Pod


Virginia tech robot 1
Virginia Tech collaboration(Robot #1)

Articulated Body

(Like an Ant, or a tractor-trailer)


Elizabethtown college
Elizabethtown College collaboration


Competitors
Competitors collaboration


Competitors1
Competitors collaboration


Competitors2
Competitors collaboration



Europa rover optional course project concept paper
Europa Rover collaborationOptional course project Concept Paper

Europa

is covered in ice !

And the mission is to get to the liquid ocean beneath the ice

Image from: http://photojournal.jpl.nasa.gov/catalog/PIA00502


Europa cracks in the ice and an ocean below
Europa collaboration(Cracks in the ice – and an ocean below)

Spots are possibly from warm ocean interacting with surface

Spots are 10 km across

Image from: http://www.mapaplanet.org/explorer/help/data_set.html


Europa rover an optional course project concept paper

Read collaboration

course syllabus

for details

Europa RoverAn optional course project Concept Paper

Image from: http://www.mapaplanet.org/explorer/help/data_set.html


Future psuedo manned missions

Future psuedo-manned missions? collaboration

VIDEO: http://www.youtube.com/watch?v=Q3C5sc8b3xM


Future psuedo manned missions1

Plus a helper collaboration

Future psuedo-manned missions?

VIDEO : http://www.youtube.com/watch?v=Q3C5sc8b3xM VIDEO: http://www.youtube.com/watch?v=W1czBcnX1Ww