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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
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AAE450 Spring 2009
Locomotion Alternatives
Thursday February 19, 2009
Ryan Lehto Propulsion Group,
Locomotion Phase, CAD Designer
<1>
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>
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
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>
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
AAE450 Spring 2009
Ryan Lehto Propulsion Group, Locomotion Phase,
CAD Designer<6>
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>
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