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

2. AAE450 Spring 2009 Roller Alternative Wheeled 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

3. AAE450 Spring 2009 Ski & Tread Alternative  Tread Contact Area Required: 0.335 m 2  Drive Wheel Diameter: 0.02m  Width: 0.017m  Tread Length: 0.13m Ryan Lehto Propulsion Group, Locomotion Phase, CAD Designer Drive Wheel Contact Patch Tension Wheel

4. AAE450 Spring 2009 Equation Used To Determine Wheel Torque SymbolDefinition τTorque aVehicle Acceleration 0 gmgm Gravity of moon 1.622 m/s 2 Θ Incline Angle Assumed 45° MRover Mass 23Kg rWheel Radius 0.08 Ryan Lehto Propulsion Group, Locomotion Phase, CAD Designer

5. AAE450 Spring 2009 Component Specs. Ryan Lehto Propulsion Group, Locomotion Phase, CAD Designer Motor Power Rating (W) VoltageEfficiency Max Torque (mNm) RPM Mass (kg) Length (m) Diameter (m) Cost Maxon 1100941.5671.33.6360800.0340.02890.019$38.14 GearRatio Mas s (kg) Efficien cy Max Torque (mNm) Cost Maxon 134182561 to 194491000$89.60 Wheeled Rover Roller Rover Motor Power Rating (W) Voltage Efficienc y Max Torque (mNm) RPM Mass (kg) Length (m) Diameter (m) Cost Maxon 339259 66557.3592100.0320.00840.032$58.29 Gearing Ratio Mass (kg) Efficien cy Max Torque (mNm) Cost Maxon 166201 4060 to 10.258504500$190.81 $510.00 $249.10

6. AAE450 Spring 2009 Ryan Lehto Propulsion Group, Locomotion Phase, CAD Designer

7. 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