Universal Chassis for Modular Ground Vehicles

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Universal Chassis for Modular Ground Vehicles

• University of Michigan Mars Rover Team
• Advisor Professor Nilton Renno, PhD
• May 24, 2005

RASC-AL Forum 2005
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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

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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

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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

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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

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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

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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

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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

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Classifications
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Core Technologies

• Interfaces and modularity
• Computing
• Drive control
• Hub motors
• Mobility
• Fuel cells and fuel storage

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Interfaces and Modularity

• Chassis must provide
• Power
• Communication with modules
• Structural support
• Thermal control
• Allows for body modularity and chassis
  universality

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Computing

• Software and hardware modularity
• Modular development infrastructure
• Autonomous or semi-autonomous operation

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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

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Hub Motors

• Power individual wheels
• Greater motion control
• Interface with electronic drive control
• Higher efficiency and redundancy

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Mobility

• 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

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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

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Design Overview

• Universal chassis comparison
• Small chassis design
• Medium chassis design
• Large chassis design
• Modularity example

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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
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Small Chassis Design
Interfaces
Oxygen Storage
Fuel Cell
Hub Motors
Methane Storage
Mobility
Reformer
Computing
0.6 m
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Medium Chassis Design
Interfaces
Oxygen Storage
Fuel Cell
Hub Motors
Methane Storage
Mobility
Reformer
Computing
1.0 m
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Large Chassis Design
Interfaces
Oxygen Storage
Hub Motors
Methane Storage
Reformer
Computing
Mobility
2.0 m
Fuel Cell
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Modularity Example

• The same small chassis can support both ATV
  and EVA assistant functions and can be
  reconfigured in the field

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Chassis Development Objectives
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Development Plan
2005 2006 2007 2008 2009 2010 2011 2012
2013 2014 2015 2016 2017 2018 2019 2020
Small Chassis
Integration
Research
Development
Medium Chassis
Integration
Research
Development
Large Chassis
Integration
Research
Development
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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

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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

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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

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Outreach Events

• 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

• 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

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Outreach Published Papers

• Paulson, A., Green, W., Rowland, C., (2003).
  Analog Pressurized Mars Rover Design, Martian
  Expedition Planning, ST 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, ST v107, pp.
  327-340.

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Sponsors
Premier Power Welder Pull Pal Thetford Acme
Mills Coy Laboratory Products, Inc Cantelon
Designs Anderson Paint Company Lowes Woodhouse
Company Brighton Electric General Motors Aker
Plastics StarTech Builders Plumbing
Supply Builders 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
Michaels RV Fudgie Pastie UltraHeat Michigan
Aerospace Ronco Plastics Boeing
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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
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Questions?