Andy 1


Purpose: Prototype for GLXP Mobility Milestone Prize

Creator: 16-861 class project

My Role: Mobility subsystem co-load



  • Four 30cm wheels
  • Differential drivetrain powered by stepper motors through 80:1 Harmonic Drive gearboxes (direct drive)
  • 1DOF kinematic suspension

Controls: UDOO

  • Dual-core ARM Cortex-A9 processor
  • ARM Atmel coprocessor (providing Arduino-compatible GPIO)


  • GoPro Hero (2)

Frame: Welded angle aluminum


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 bipolar stepper motors and Harmonic Drive gearboxes 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.