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The University of Alabama

Lunabotics Team

MODULAR LUNAR EXCAVATION

Justin Headley

Matt Westberry

Timo Stradinger

Logan Ream

Brooks Stinson

David Sandel

Andrew Price

Adam Melton

Stephanie Troy

Dr. Kenneth Ricks, Advisor

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AGENDA

Introduction and Purpose

Design Concept Design Iterations

System Integration

System Performance Evaluation

Conclusions

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The University of Alabama

Mission: To advance theintellectual and socialcondition of the people of theState through qualityprograms of teaching,research, and service.

Enrollment: 30,200 students

College of Engineering:Founded 1837,2700 current students

UA Lunabotics Team

Multidisciplinary: Mechanical,Electrical, and ComputerEngineering and Geology

6 undergraduate, 3 graduatestudents

3 team members returningfrom last years competition

INTRODUCTION

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PURPOSE

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Vehicle Objectives

Satisfy 2011 Lunabotics Competition goals, rules, and guidelines Provide flexibility to tackle lunar mining considerations outside the

competition

Expandable to non-mining lunar operations via additional modules

Team Objectives

Learning through practical experience, both technical and soft skills

Representing NASA through outreach both on and off campus

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COMPETITION VEHICLE

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PRIMARY DESIGN INNOVATIONS

Omni-Directional Wheel System

Offers improved turning in loose regolith

Modular Digging Apparatus

Enables platform expandability beyond competition

Percussive Digging

Highly efficient means of penetrating compacted regolith

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PIVOT WHEEL BENEFITS

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Direction of Rotation

Force Applied by Wheel

Direction of Travel of Wheel

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PIVOT WHEEL BENEFITS

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Direction of Rotation

Force Applied by Wheel

Direction of Travel of Wheel

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MODULAR DESIGN BENEFITS

Modularity allows for component reuse, reducing costs associated with:

Engineering Manufacturing

Maintenance

Training

Transportation

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MODULAR DESIGN BENEFITS

Launch costs are one of the largest cost segments for space-boundprojects

Price per pound ranges from $4,000-$14,000

Limited payload volume aboard launch vehicle

Possible solutions

Reduce size/weight of components

Reuse components for multiple applications

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DESIGN ITERATIONS

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DESIGN ITERATIONS

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Percussive Digger

Pros Can carry full load onboard

Capable of penetrating denserregolith

Cons

Complex design and controls

Small scoop size

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DESIGN ITERATIONS

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Front End Loader

Pros Large scoop volume

Simpler to design and build

Tried and true onearthbound projects

Cons

Single scoop pertrip

Upper layers ofregolith only

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MODULE INTERFACE - MECHANICAL

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MODULE INTERFACE - ELECTRICAL

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PowerPole Motor Connections

Color coordinated per motor channel Polarized connections prevent incorrect

connections

Electronics Box

Heat-sunk motor controllers for

module motors and actuators

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MODULE INTERFACE - SOFTWARE

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Top Level Class Module Classes Component Classes

Optional

Module

Classes

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COMMUNICATION DIAGRAM

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Xbox 360Controller Client Software

Base StationNetwork

Network Bridge Linux SBC ServerSoftware

Phidgets MotorControllers

ModuleInterface

Motors andActuators

BaseStation

ControlS

erver

ControlHar

dware

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SAFETY SYSTEMS

E-STOP kill switch disables all electronics and motors

Polarized connections prevent incorrect wiring and short circuits Limit switches prevent overextending actuators and damaging the

modules

Large gauge wire, heat sinks, and automaticthermal protection shutoff minimize risk ofoverheating drive electronics

Software watchdog monitors communicationsto prevent runaway vehicle in case ofcommunication link failure

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WHEEL TRANSFORMATION TESTING

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TRACTION TESTING

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SUMMARY

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UAs Lunabot design incorporates innovative solutions for maneuveringand mining in a variety of surface media:

Modular hardware and software design extend the vehicle life cycle toinclude new applications or future competitions

Omni-directional wheel system provides superior turning capabilitiesto traditional wheel or track based systems

Optional percussive digging attachment utilizes cutting edge NASAresearch

Numerous safety systems protect both the vehicle and its operators

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RESOURCES

I. NASAs Lunabotics Mining Competition 2011 Rules & Rubrics, 2010,Kennedy Space Center

http://www.nasa.gov/pdf/390619main_LMC%20Rules%202011.pdf

II. NASA Lunabotics Mining Competition Website, Susan Sawyer, 2011,Kennedy Space Centerhttp://www.nasa.gov/offices/education/centers/kennedy/technology/lunabotics.html

III. Lunar Engineering Handbook, Dr. David Beale, Auburn University

IV. http://education.ksc.nasa.gov/esmdspacegrant/LunarRegolithExcavatorCourse/index.htm

V. 8020 Inc. The Industrial Erector Set, www.8020.net

VI. Percussive Digging Systems for Robotic Exploration and Excavation of

Planetary and Lunar Regolith, Craft, J.; Wilson, J.; Chu, P.; Zacny, K.;Davis, K.; March, 2009, 978-1-4244-2621-8

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QUESTIONS?

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