Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

U N I V E R S I T Y O FMARYLAND

Case Study: Lunar Roving Vehicle

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© 2018 David L. Akin - All rights reserved http://spacecraft.ssl.umd.edu

Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

U N I V E R S I T Y O FMARYLAND

Concepts for Lunar Equipment Carriers

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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Concepts for Lunar Equipment Carriers

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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Concepts for Lunar Equipment Carriers

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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Modular Equipment Transporter

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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MET Structure

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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MET Equipment Load (Apollo 14)

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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Pneumatic Tire Specifications

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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Thermal Vacuum Testing of Wheels

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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Towing Force vs. Vehicle Weight (Moon)

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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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 )

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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LRV Three-View and Dimensions

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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LRV Payload Components

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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LRV in Stowed Configuration

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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LRV Deployment (1-6)

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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LRV Deployment Sequence (7-12)

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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LRV Deployment Sequence (13-15)

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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LRV Speed Capabilities

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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LRV Chassis Structure

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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LRV Wheel Suspension

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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LRV Wheel Steering Connections

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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LRV Wheel Motor and Gearing

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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Apollo 17 LRV Wheel and Fender

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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LRV Wheel Design Details

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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LRV Wheel Testing

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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LRV Wheel Deflection

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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Location of LRV Center of Gravity

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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LRV Static Stability

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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Limiting Velocity for Obstacle Impact

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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Sliding Limit in Turn (µ=0.8)

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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LRV Overturn Limits in Turning

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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Turning Radius with CG Shift - 0° Slope

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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Turning Radius with CG Shift - 20° Slope

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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Turning Radius Limit for Higher CG

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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LRV Top Speed Limits (Struct. Fatigue)

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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LRV Power Requirements - 0° Slope

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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LRV Power Requirements - 5° Slope

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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LRV Power Requirements - 10° Slope

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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LRV Traction Drive Performance

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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Battery Current vs. Speed

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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Wheel Motor Temperature vs. Slope

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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Power Usage by System

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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LRV Wheel Loading

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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Drive Motor Characteristics

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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LRV Stopping Distance vs. Speed/Slope

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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LRV Terrain Design Cases

• Crevasse crossing capability 70 cm • Step Obstacle Climbing Capability 35 cm • Clearance under chassis 35 cm

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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LRV Mobility Parameters

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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Apollo 15 Terrain (“Lurain”)

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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Apollo 15 LRV

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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Apollo 16 “Lunar Grand Prix”

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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Apollo 16 LRV (image stabilized)

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Case Study – Lunar Roving Vehicle ENAE 788X - Planetary Surface Robotics

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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

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