Universal Chassis for Modular Ground Vehicles University of Michigan Mars Rover Team Presented by Eric Nytko August 6, 2005 The 2 nd Mars Expedition Planning.

Universal Chassis for Modular Ground Universal Chassis for Modular Ground VehiclesVehicles

University of Michigan Mars Rover Team

Presented by Eric Nytko

August 6, 2005

The 2nd Mars Expedition Planning Workshop

Universal Chassis for Modular Ground Vehicles

OverviewOverview

• University of Michigan Mars Rover Team

• Concept of the Universal Modular Chassis

• Vehicle Classification

• Core Technologies

• Examples of Configurations and Mission Scenarios

• Conclusions


Michigan Mars Rover TeamMichigan Mars Rover Team

• Student research group founded in 2000• Designs, fabricates, and tests manned ground vehicles for planetary

exploration• Inspires and educates students about space exploration• 2nd place in RASC-AL Forum’05 with Universal Chassis Concept


Mobility ChallengesMobility Challenges

• Mars Exploration Rovers• Speed: 0.18 km/hr• Payload: 45 kg

• Future Capabilities• Speed: 20 km/hr• Payload: 3000 kg• Support long-range,

long-term human operations


Concept of the Universal Concept of the Universal Modular ChassisModular Chassis

• Developmental Advantages• More thorough design and testing• Reutilization of research resources• Standardization of procedures and

equipment

• Operational Advantages• Less total launch mass• Increased redundancy and mission

flexibility• Increased crew experience

• Disadvantages• Unused subsidiary capabilities• Design complexity

Chassis Modules

Communications Human Interfaces

Control Instruments

Mobility Life Support

Power Storage

Tools


Vehicle Types and Vehicle Types and Functional RequirementsFunctional Requirements

• Robotic Exploration Rover• Pre-EVA scouting

• EVA Assistant

• All Terrain Vehicle• Single-person mobility

• Unpressurized Rover• Short-range crew

transport

• Utility Truck• Equipment transport

• Pressurized Rover• Long-range crew transport

• Construction Rover • Nuclear reactor transport

• Road grading• Creating banks of soil


ClassificationsClassifications


Core TechnologiesCore Technologies

• Interfaces and modularity

• Computing

• Drive control

• Hub motors

• Mobility

• Fuel cells and fuel storage


Interfaces and ModularityInterfaces and Modularity

• Chassis must provide• Power• Communication with

modules• Structural support• Thermal control

• Allows for body modularity and chassis universality

Company TRL ProductsSingapore Technologies Kinetics

4 Timoney Terrex AV81

GM 4 Hy-wire (modular concept w/ universal docking port)

European Armaments Agency

4 Boxer MRV


ComputingComputing

• Software and hardware modularity

• Modular development infrastructure

• Autonomous or semi-autonomous operation

Company TRL Products

JPL 9 MER Navigation, Hazard and Sun tracking cameras, internal sensors

JPL 9 MAPGEN software

JPL 4-5 CLARAty architecture

NASA 4-5 IDEA architecture

BAE Systems

9 RAD750 processor

Motorola 4 68060, PowerPC processors

Intel 4 Pentium processors


Drive ControlDrive Control


Aeroflex 8-9 Rad-hard microcontrollers, motor drives, FPGAs, MIL-STD-1553B hardware

BAE Systems/ Actel

8-9 RAD6000, RAD750, Rad-hard FPGAs, ASICs

Philips 9 PCA82C250 and other space-qual. COTS

Aurelia Micro-elettronica

8-9 CASA series CAN controllers

ByteFlight group

4 Hardware, software and dev-mnt tools

FlexRay group

4 Hardware, software and dev-mnt tools

• Eliminates hydraulic and mechanical linkages

• Reduces launch mass

• Robust and redundant control

• Incorporates both autonomy and human control

• Commercial automotive solution in rad-hard applicable


Hub MotorsHub Motors

• Power individual wheels

• Greater motion control

• Interface with electronic drive control

• Higher efficiency and redundancy

Company TRL ProductsUQM Tech. 4-5 In-hub electric motorsFUPEX Corp

4-5 In-hub electric motors

Lucchi R. Elettro-meccanica

4-5 In-hub electric motors

Tech M4 4-5 In-hub electric motors

Maxon Motor USA

9 REO-20 maxon motor (MER)


MobilityMobility


GM 4 Hummer (Front: Torsion bar & gas shocks, Rear: Multi-Link w/ var. rate coils & gas shocks, 4 17" by 8.5" wheels)

Boeing 9 Lunar Rover (double horizontal wishbone, 4 wheels)

Peugeot 4 Quark ATV (triangular wishbone, 4 17" wheels)

JPL 9 MER/MSL (Rocker-Bogie, 6 wheels)

John Deere and iRobot

4 R-Gator (4 wheels)

• Vehicle mobility is dependent on suspension and wheels

• Suspension• Reduces effects of rough

terrain• Supports vehicle weight• Maintains wheel contact for

sufficient traction• Controls direction of travel

• Wheels• Critical to overcoming

obstacles• Reduce effects of

inconsistent terrain


Fuel Cells and Fuel StorageFuel Cells and Fuel Storage

• Power system affects design, capabilities, and mission architecture

• Fuel cells• More efficient than other

power systems• Adaptable• Scalable• Easily configured to fit

universal chassis platforms• Fuel storage

• Liquid methane and oxygen• Pressurized tanks


GM 6 PEM Fuel Cells (129 kW/100 kg)

Honda 4 FCX Fuel Cells (80kW)


Design OverviewDesign Overview

• Universal chassis comparison

• Small chassis design

• Medium chassis design

• Large chassis design

• Modularity example


Universal Chassis Universal Chassis ComparisonComparison

1m0.6m0.3m

1.9m 2.5m

4.5m

1.9

m 3.0

m

4.8

m

1.2m

1.7m

2.5m

120 kW2000 kW-hr

16kW24 kW-hr

8 kW6 kW-hr

2000 kg400 kg

250 kg

3000 kg

300 kg

150 kg

Carrying capacity


Small Chassis DesignSmall Chassis Design

Hub Motors

Reformer

Methane Storage

Oxygen Storage

Computing

Mobility

Fuel Cell

Interfaces


Medium Chassis DesignMedium Chassis Design

Hub Motors

Reformer

Methane Storage

Oxygen Storage

Fuel Cell

Mobility

Computing

Interfaces


Large Chassis DesignLarge Chassis Design

Hub Motors

Reformer

Methane Storage

Oxygen Storage

Fuel Cell

MobilityComputing

Interfaces


Modularity Example: Small Modularity Example: Small ChassisChassis

The same small chassis can support both ATV and EVA assistant functions and be reconfigured in the field


Mission Scenario Example Mission Scenario Example for Small Chassisfor Small Chassis

• Mission with multiple dispersed sites (scouting):• Use Small Chassis with ATV and Robotic

Exploration Rover payloads to cover more ground

• Mission with small number of interesting sites (in-depth site exploration):• Use Small Chassis with EVA Assistant

payload to investigate the site during EVA


Modularity Example: Large Modularity Example: Large ChassisChassis

The same large chassis can support both the Construction Vehicle and Pressurized Rover


Mission Scenario Example Mission Scenario Example for Large Chassisfor Large Chassis

• Land vehicle with Nuclear Reactor Deployment payload

• Deploy nuclear reactor before crew arrives

• Use Construction payload for base construction

• Use Pressurized payload for long range exploration


ConclusionsConclusions

• Universal chassis concept will support a variety of missions and mission scenarios for all aspects of base operation

• Cost sharing with other technology sources will reduce development expenses

• Development plan must leverage current and future automotive technology


Questions?Questions?

Universal Chassis for Modular Ground Vehicles University of Michigan Mars Rover Team Presented by Eric Nytko August 6, 2005 The 2 nd Mars Expedition Planning.

Documents

modularity chassis

chassis universality

redundancy slide

tests manned ground

fuel storage slide

banks of soil slide

redundant control

radhard applicable slide