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Lunar Excavation Robot Design Overview for NASA Lunabotics Challenge

This document outlines the interim design presentation of Team 19's lunar excavation robot for the NASA Lunabotics Mining Competition. Key components include a lightweight aluminum chassis designed to support motor and excavation systems while minimizing weight within strict dimensions. The robot employs a walking mechanism with hip-actuated legs and an advanced bucket chain system for material handling. The design incorporates detailed mass calculations, FEA simulations for leg performance, and a power circuit to facilitate operations in the lunar environment.

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Lunar Excavation Robot Design Overview for NASA Lunabotics Challenge

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  1. NASA Lunabotics Mining CompetitionInterim Design Presentation Team 19: AleksFedoriw Duncan Haldane Arthur Pack Michael Pearse Carlos Ruiz

  2. Chassis • Material: • Aluminum 6063 • ¾” Square Tubing • ¼” Plate • Primary Focus: • Attachment for Motor/Gearbox Assembly • Attachment for Excavation/Dumping Systems

  3. Chassis • Additional Constraints: • 1m x .370m Max Dimensions • Minimize Weight • Mass Calculations (ProEngineer): • Volume = 3.33e+06 mm3 • Surface Area = 1.33e+06 mm2 • Density = 2.685e-06 kg/mm3 • Total Mass = 8.95 kg

  4. Walking • Walking using hip actuated leg • Torque at touchdown: 70 Nm @ 1.5 Hz • Motor: 18V (36V) Maxon RE65 with 50:1 gear reduction • 35 A draw for each motor • Need 105 A capability

  5. Leg Design • Semi-circular legs 0.297 m in Diameter, 9cm wide • Need Radial Stiffness of 15,905 N/m • Pseudo Rigid Body Model • w = 0.09m; t = 0.00518m

  6. FEA Simulation • For a 1 kN load • Vertical tip Deflection: 65.93mm • K = 1000/0.06593 = 15,167 N/m Vertical Deflection

  7. Excavator System • Bucket Chain system • Uses lower plate to hold material while scoops push it along • Swivels on a four-bar linkage • Powered by a single motor

  8. Bucket System • Uses two power screws to lift bucket • Cable connected to frame forces bucket to dump contents • Lid is hinged to allow contents to dump farther away from the bucket • Very lightweight

  9. Final Design

  10. System Power Circuit

  11. Battery Type

  12. Sensors Webcam Weight Sensors Bump Sensor

  13. Main Control

  14. Wireless Aspects

  15. MCU

  16. Controls

  17. Overall design

  18. Questions? ?

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