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
- 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.