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ATHLETE : Double Auger Anchoring MechanismThe 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.
Document ID
20150005768
Acquisition Source
Jet Propulsion Laboratory
Document Type
Other
External Source(s)
Authors
Shin, Joseph
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
April 16, 2015
Publication Date
May 2, 2011
Subject Category
Lunar And Planetary Science And Exploration
Mechanical Engineering
Ground Support Systems And Facilities (Space)
Distribution Limits
Public
Copyright
Other
Keywords
Human-Robot Systems (HRS) Project
anchoring mechanisms
All-Terrain Hex-Legged Extra -Terrestrial Explorer (ATHLETE)

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