The All-Terrain Hex-Legged Extra-Terrestrial Explorer (ATHLETE) is a six-limbed robot designed to support surface explorations on Near Earth Objects, the Moon and Mars. ATHLETE can carry large payloads on its top deck and can carry a fully equipped pressurized habitat in low gravity. The robot has wheels on each of its six articulated limbs, allowing it to actively conform to terrain while driving and to walk when driving is impractical. With the use of a tool adapter, ATHLETE limbs can be equipped with end effectors to support various mission objectives. For work on Near Earth Objects and other microgravity environments, an anchoring mechanism is needed to keep the ATHLETE from floating off the surface. My goal for this spring session at JPL was to design and build a counter rotating, double auger, anchoring mechanism. The mechanism mates to the tool adapter and is driven off the wheel motor. The double auger anchoring mechanism will be tested in a regolith simulant that will determine the uplift capacity of the anchoring mechanism.
ATHLETE : Double Auger Anchoring Mechanism
2011-05-02
Sonstige
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Englisch
NTRS | 2011
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