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Lunar Excavation Vehicle Design for NASA Lunabotics Mining Competition

This presentation outlines the interim design of a lunar excavation vehicle developed by Team 19, consisting of members Aleks Fedoriw, Duncan Haldane, Arthur Pack, Michael Pearse, and Carlos Ruiz. The chassis is constructed from lightweight Aluminum 6063, emphasizing a minimal weight while adhering to size limitations. Key features include a hip-actuated walking mechanism, an effective excavator and dumping system, and robust structural integrity demonstrated through FEA simulations. The design prioritizes functionality in harsh lunar conditions, with a focus on efficiency and reliability.

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Lunar Excavation Vehicle Design for NASA Lunabotics Mining Competition

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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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