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Development of the Tri-ATHLETE Lunar Vehicle PrototypeThe Tri-ATHLETE (All Terrain Hex Limed Extra Terrestrial Explorer) vehicle is the second generation of a wheel-on-limb vehicle being developed to support the return of humans to the lunar surface. This paper describes the design, assembly, and test of the Tri-ATHLETE robotic system with a specific emphasis on the limb joint actuators. The design and implementation of the structural components is discussed, and a novel and low cost approach to approximating flight-like cabling is also presented. The paper concludes with a discussion of the "second system effect" and other lessons learned as well as results from a three week long field trial of the vehicle in the Arizona desert.
Document ID
20100021930
Document Type
Conference Paper
Authors
Heverly, Matt (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Matthews, Jaret (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Frost, Matt (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Quin, Chris (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 29, 2013
Publication Date
May 12, 2010
Publication Information
Publication: Proceedings of the 40th Aerospace Mechanisms Symposium
Subject Category
Space Sciences (General)
Distribution Limits
Public
Copyright
Public Use Permitted.

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IDRelationTitle20100021914Analytic PrimaryProceedings of the 40th Aerospace Mechanisms Symposium