1. AAE450 Spring 2009 100g Locomotion Thursday March 5, 2009 Ryan Lehto Propulsion Group, Locomotion Phase, CAD Designer

2. AAE450 Spring 2009 Roller Rover Integration Ryan Lehto Propulsion Group, Locomotion Phase, CAD Designer Camera CPU Transceiver Batteries Main Shaft with Motor Outside Shell 0.25 D Payload

3. AAE450 Spring 2009 Mass, Power, Cost  System: –1 Forward Propulsion DC motor w/ 221:1 Planetary Gearing –1 DC Stepper Motor for Turning  Mass: (Motor)+ (Gearing)+ (Stepper Motor)= 0.072kg  Power: 0.543 W * 8mins = 0.072 W*hrs  Cost: $153.27* + Stepper Motor (Pending Quote)  Work Before Monday: –Reconfigure Components to optimize CM and thermal controls. –Find a smaller Camera to further reduce mass. Ryan Lehto Propulsion Group, Locomotion Phase, CAD Designer *Based on current exchange rate of 1.00 EUR=1.28 USD

4. AAE450 Spring 2009 Motor Data Motor Power Input (W)Efficiency Power Nominal Output (W) Mass (g) No-load Velocity (RPM) Dia (mm) Length (mm)Cost 349190 - RE 6 Ø6 mm, Precious Metal Brushes, 0.3 Watt 0.534 55.2% 0.3 2.3 18500 622.9$58.71 (45.87 Eur) GearingRatioEfficiencyMass (g)Diameter mmLength mmCost 304181- Planetary Gearhead GP 6 A Ø6 mm, 0.002 - 0.03 Nm 221:160%2.9625.8$94.55 (73.87 Eur) Sources: http://shop.maxonmotor.com/ishop and http://motion-controls.globalspec.comhttp://shop.maxonmotor.com/ishophttp://motion-controls.globalspec.com Stepper Motor Holding Torque (Nm)Step AngleVoltage (V) Mass (g) No-load Velocity (RPM) Dia (mm) Length (mm)Cost ARSAPE Two Phase Stepper Motor -- AM2224-R3AV-4.8 0.045 15° 3 2 18500 622.9$58.71 (45.87 Eur) Ryan Lehto Propulsion Group, Locomotion Phase, CAD Designer

5. AAE450 Spring 2009 Assumptions  500m in 8mins = 1.04m/s average speed  Acceleration of 0.001m/s  I ball =Spherical Shell = 0.024 kg*m^2  Neglect axle friction  Not a simple rod pendulum analysis using CATIA to find CM Ryan Lehto Propulsion Group, Locomotion Phase, CAD Designer

6. AAE450 Spring 2009 Pendulum C of M Ryan Lehto Propulsion Group, Locomotion Phase, CAD Designer

7. AAE450 Spring 2009 Forward Motion  Pendulum Torque needed to raise 45  m=mass of pendulum 0.488kg  g= lunar gravity 1.635 m/s^2  Lcm=Distance of center of mass from rotation axis 0.053m  τ = torque needed 0.0378Nm Ryan Lehto Propulsion Group, Locomotion Phase, CAD Designer

8. AAE450 Spring 2009 Ryan Lehto Propulsion Group, Locomotion Phase, CAD Designer Camera Transceiver Main Shaft with Motor CPU Payload