Locomotion Alternatives

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AAE450 Spring 2009 Locomotion Alternatives Thursday February 19, 2009 Ryan Lehto Propulsion Group, Locomotion Phase, CAD Designer <1>

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Locomotion Alternatives. Thursday February 19, 2009. . Roller Alternative. Wheeled Rover. Roller Alternative. Torque Output Needed: 3.54 Nm Power Needed: 0.43 W System Mass: 0.29 Kg Cost: $249.10. Torque Output Needed: 2.11 Nm Power Needed: 0.79 W System Mass: 2.512 Kg - PowerPoint PPT Presentation

Transcript of Locomotion Alternatives

Page 1: Locomotion Alternatives

AAE450 Spring 2009

Locomotion Alternatives

Thursday February 19, 2009

Ryan Lehto Propulsion Group,

Locomotion Phase, CAD Designer

<1>

Page 2: Locomotion Alternatives

AAE450 Spring 2009

Roller AlternativeWheeled Rover

Torque Output Needed: 2.11 Nm

Power Needed: 0.79 W System Mass: 2.512 Kg Cost: $510.00

Roller Alternative Torque Output Needed:

3.54 Nm Power Needed: 0.43 W System Mass: 0.29 Kg Cost: $249.10

Ryan Lehto Propulsion Group, Locomotion Phase,

CAD Designer

<2>

Page 3: Locomotion Alternatives

AAE450 Spring 2009

Ski & Tread Alternative Tread Contact Area Required: 0.335 m2

Drive Wheel Diameter: 0.02m Width: 0.017m Tread Length: 0.13m

Ryan Lehto Propulsion Group, Locomotion Phase,

CAD Designer<3>

Drive Wheel

Contact Patch

Tension Wheel

Page 4: Locomotion Alternatives

AAE450 Spring 2009

Equation Used To Determine Wheel Torque

Symbol Definitionτ Torque

a Vehicle Acceleration 0

gm Gravity of moon 1.622 m/s2

Θ Incline Angle Assumed 45°

M Rover Mass 23Kg

r Wheel Radius 0.08

Ryan Lehto Propulsion Group, Locomotion Phase,

CAD Designer<4>

Page 5: Locomotion Alternatives

AAE450 Spring 2009

Component Specs.

Ryan Lehto Propulsion Group, Locomotion Phase,

CAD Designer<5>

Motor Power Rating (W)

Voltage Efficiency Max Torque (mNm)

RPM Mass (kg)

Length (m)

Diameter (m)

Cost

Maxon 110094 1.5 6 71.3 3.63 6080 0.034 0.0289 0.019 $38.14

Gear Ratio Mass (kg)

Efficiency

Max Torque (mNm)

Cost

Maxon 134182 561 to 1 94 49 1000 $89.60

Wheeled Rover

Roller RoverMotor Power Rating

(W)Voltage Efficienc

yMax Torque (mNm)

RPM Mass (kg)

Length (m)

Diameter (m)

Cost

Maxon 339259

6 6 55 7.35 9210 0.032 0.0084 0.032 $58.29

Gearing Ratio Mass (kg)

Efficiency

Max Torque (mNm)

Cost

Maxon 166201

4060 to 1 0.258 50 4500 $190.81

$510.00

$249.10

Page 6: Locomotion Alternatives

AAE450 Spring 2009

Ryan Lehto Propulsion Group, Locomotion Phase,

CAD Designer<6>

Page 7: Locomotion Alternatives

AAE450 Spring 2009

Sources Wong, J. Y. 2008. Theory of Ground

Vehicles. New Jersey, John Wiley & Sons. Bekker, M.G. 1960. Off-Road Locomotion.

Michigan. University of Michigan. Barnes, F., Klosky, J., Sture, S., Ko, H.

Mechanical Properties of JSC-1 Lunar Regolith Stimulant. Space Engineering Construction Operations.

Ryan Lehto Propulsion Group, Locomotion Phase,

CAD Designer<7>