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ATHLETE: Lunar Cargo Handling for International Lunar ExplorationAs part of the Human-Robot Systems Project within the NASA Exploration Technology Development Program, the Jet Propulsion Laboratory is developing a vehicle called ATHLETE: the All-Terrain Hex-Limbed Extra-Terrestrial Explorer. The basic idea of ATHLETE is to have six relatively small wheels on the ends of legs. The small wheels and associated drive actuators are much less massive than the larger wheels and gears needed for an "all terrain" vehicle that cannot "walk" out of extreme terrain. The mass savings for the wheels and wheel actuators is greater than the mass penalty of the legs, for a net mass savings. Starting in 2009, NASA became engaged in detailed architectural studies for international discussions with the European Space Agency (ESA), the Japanese Space Agency (JAXA), and the Canadian Space Agency (CSA) under the auspices of the International Architecture Working Group (IAWG). ATHLETE is considered in most of the campaign options considered, providing a way to offload cargo from large Altair-class landers (having a cargo deck 6+ meters above the surface) as well as offloading international landers launched on Ariane-5 or H-2 launch vehicles. These international landers would carry provisions as well as scientific instruments and/or small rovers that would be used by international astronauts as part of an international effort to explore the moon.Work described in this paper includes architectural studies in support of the international missions as well as field testing of a half-scale ATHLETE prototype performing cargo offloading from a lander mockup, along with multi-kilometer traverse, climbing over greater than 1 m rocks, tool use, etc.
Document ID
20150008942
Acquisition Source
Jet Propulsion Laboratory
Document Type
Conference Paper
External Source(s)
Authors
Wilcox, Brian H.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
May 26, 2015
Publication Date
August 30, 2010
Subject Category
Lunar And Planetary Science And Exploration
Ground Support Systems And Facilities (Space)
Space Transportation And Safety
Spacecraft Design, Testing And Performance
Meeting Information
Meeting: AIAA Space 2010 Conference & Exposition
Location: Anaheim, CA
Country: United States
Start Date: August 30, 2010
End Date: September 2, 2010
Sponsors: American Inst. of Aeronautics and Astronautics
Distribution Limits
Public
Copyright
Other
Keywords
International Collaboration in Space
Human Space Exploration
Space Robotics

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