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Universal Chassis for Modular Ground Vehicles

Universal Chassis for Modular Ground Vehicles. University of Michigan Mars Rover Team Advisor – Professor Nilton Renno, PhD May 24, 2005. RASC-AL Forum 2005. Overview. University of Michigan Mars Rover Team Challenge: surface mobility for planetary exploration

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Universal Chassis for Modular Ground Vehicles

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  1. Universal Chassis for Modular Ground Vehicles University of Michigan Mars Rover Team Advisor – Professor Nilton Renno, PhD May 24, 2005 RASC-AL Forum 2005

  2. Overview • University of Michigan Mars Rover Team • Challenge: surface mobility for planetary exploration • Solution: sustainable development plan of universal chassis • Approach • Core technologies • Detailed design • Development and testing plan • Design study conclusions • Outreach 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 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. Sustainable Development Plan • Leverage automotive technology • Develop standard components for a universal chassis design • Chassis support of multiple payload modules • Spiral development of the chassis classes for the Moon, then Mars Universal Chassis for Modular Ground Vehicles

  6. Approach to Challenges • Develop the concept • Determine functional requirements for surface mobility • Classify functional requirements into chassis size classes • Determine universal technologies that fulfill multiple functions • Research current status of technologies • Determine future technology requirements for universal chassis design • Propose development program Universal Chassis for Modular Ground Vehicles

  7. 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

  8. Functional Requirements • Pre-EVA scouting • EVA assistance • Single-person mobility • Short-range crew transport (50 km) • Equipment transport (300 kg) • Nuclear reactor transport (3000 kg) • Long-range, pressurized crew transport (2000 km) • Road grading • Creating banks of soil Universal Chassis for Modular Ground Vehicles

  9. Classifications Universal Chassis for Modular Ground Vehicles

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

  11. 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

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

  13. 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

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

  15. 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

  16. 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

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

  18. Universal Chassis Comparison 3000 kg Payload 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

  19. Small Chassis Design Interfaces Oxygen Storage Fuel Cell Hub Motors Mobility Methane Storage Reformer Computing 0.6 m Universal Chassis for Modular Ground Vehicles

  20. Medium Chassis Design Interfaces Oxygen Storage Fuel Cell Hub Motors Mobility Methane Storage Reformer Computing 1.0 m Universal Chassis for Modular Ground Vehicles

  21. Large Chassis Design Interfaces Oxygen Storage Methane Storage Hub Motors Reformer Computing Mobility 2.0 m Fuel Cell Universal Chassis for Modular Ground Vehicles

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

  23. Chassis Development Objectives Universal Chassis for Modular Ground Vehicles

  24. Development Plan 2005 2006 2007 2008 2009 2010 2011 2012 2013 2014 2015 2016 2017 2018 2019 2020 Small Chassis Development Integration Research Medium Chassis Research Development Integration LargeChassis Research Development Integration Universal Chassis for Modular Ground Vehicles

  25. Testing Plan Testing Approach & Support Needed Critical Elements to Test • Radiation hardened electronics • Dust control • Adequate mobility level • Reliability • Autonomy • Earth • Computer simulation • Analog ground base (field) testing • Near-Earth Flight Tests • No apparent benefits • Lunar Tests • Surface operation for system validation • Mars Robotic Missions • Mars robotic missions are key to providing Martian environmental data (dust, thermal, radiation, terrain, hazards) Testing Venues & Benefits • Earth-based facilities • Ground-based simulator • Field tests • Near-Earth Flight Tests • None identified • Lunar Tests • Low-gravity mobility and dust control • Mars Robotic Missions • Key to providing Martian terrain and hazard data Universal Chassis for Modular Ground Vehicles

  26. Conclusions • Universal chassis concept will support a sustainable development program for planetary ground vehicles • Cost sharing with other technology sources will reduce development expenses • Development must start immediately for small chassis to be operational by 2010 Universal Chassis for Modular Ground Vehicles

  27. Outreach: Everest • Analog science rover • Crew of 3 explorers for one week of off-road travel • US Army FMTV chassis • Drive control station, living and working accommodations, science glovebox, airlock • Tours for more than 2000 visitors • Tested in field science operations at Mars Desert Research Station Universal Chassis for Modular Ground Vehicles

  28. Outreach: Events • Mars Society Convention • MIT Mars Week • Mars Society Canada • Mars Day UM • American Astronautical Society • Detroit Channel 4 Television News • Michigan Daily • Fuel Cells Today • Lunar Enterprise Daily • Red Planet Satellite Report • Defense Week • Houston Chronicle • Ann Arbor News • Michigan Radio • Great Space Adventuress • Tech Day • Sally Ride Science Festival • Aerospace Day • K-grams Kids Festival • Grand Rapids Kids Fair • UM Summer Science and Engineering Programs • UM Exhibit Museum • Kalamazoo Tech Center • Detroit Science Center • Cranbrook Science Institute Universal Chassis for Modular Ground Vehicles

  29. Outreach: Published Papers • Paulson, A., Green, W., Rowland, C., (2003). “Analog Pressurized Mars Rover Design,” Martian Expedition Planning, S&T v107, pp. 299-311. • Vanderwyst, A., Beyer, J., Passow, C., Paulson, A., Rowland, C., (2003). “Power Generation and Energy Usage in a Pressurized Mars Rover,” Martian Expedition Planning, S&T v107, pp. 327-340. Universal Chassis for Modular Ground Vehicles

  30. Sponsors Premier Power Welder Pull Pal Thetford Acme Mills Coy Laboratory Products, Inc Cantelon Designs Anderson Paint Company Lowe’s Woodhouse Company Brighton Electric General Motors Aker Plastics StarTech Builder’s Plumbing Supply Builder’s Carpet Supply Navy EOD TechDiv National Automotive Center Michigan Space Grant Mars Transport Apollo Energy Systems Generac Power Systems, Inc. RTI, Real-Time Innovations Alcoa Ronco Plastics Contractors Steel Company Sheraton Palo Alto Lockheed Martin 3Com Plascore Superior Oldsmobile Cadillac GMC Trucks Lineo Trinco Dry-Blast Cobra Electronics Corporation Walt Michael’s RV Fudgie Pastie UltraHeat Michigan Aerospace Ronco Plastics Boeing Universal Chassis for Modular Ground Vehicles

  31. The University of Michigan Mars Rover Team will continue to research and develop ground vehicles. We welcome partners who share this goal. www.umrover.org Universal Chassis for Modular Ground Vehicles

  32. Questions? Universal Chassis for Modular Ground Vehicles

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