Purpose: GLXP Mobility Milestone Prize: Winning Entry
Creator: Carnegie Mellon University
My Role: Protoflight (space-rated) mechanical design: designed suspension, motor sizing calculations
- Four 30cm wheels
- Differential drivetrain powered by brushless (BLDC) motors through 761:1 planetary gearboxes (direct drive)
- 1DOF kinematic suspension
- Dual-core ARM processor
- Both cores perform identical operations for error checking
- Hall effect sensors
- Absolute magnetic pivot encoder
Drive 500m: Large, wide wheels with 1cm grousers allow Andy to traverse the lunar terrain without fear of sinking into the soft regolith.
Climb obstacles: Direct-drive hub motors provide Andy with sufficient torque to overcome any obstacle, even during testing in Earth gravity.
Create panoramas: The two-axis pan/tilt system lets operators drive remotely, generate panorams, and inspect the rover.