Canadian Lunar & Planetary Rover. Development
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1 Canadian Lunar & Planetary Rover Guy who likes rovers Development Lunar Exploration Analysis Group Meeting October 21, 2015 Peter Visscher, P.Eng. Argo/Ontario Drive & Gear Ltd. Perry Edmundson, P.Eng. Argo/Ontario Drive & Gear Nadeem Ghafoor Canadensys Aerospace Corp. Howard Jones Canadensys Aerospace Corp.
2 Ontario Drive & Gear Ltd. ODG Gear Division (transmissions & gears) ARGO Vehicle Division (extreme terrain amphibious vehicles) Space/Robotics Division (lunar/planetary & terrestrial robotic vehicles)
3 ODG Space/Robotics Division Est Concept Generation Design & Analysis Manufacturing & Assembly Deployment & Support
4 Canadensys Aerospace Space systems company based in Toronto, Ontario, Canada Staff drawn from across Canadian space industry landscape with extensive flight heritage from big & small space Focus on Accessible Space Small exploration systems & commercial space Participative science & exploration Canadensys HQ, Toronto ON Optical & RF payloads Enabling technologies for New Exploration Micro / Nano platforms Lunar surface instruments Lunar environment robustness Lunar night survival Thermal & Energy storage Low temperature systems Role on Current Rover Programs Path-to-flight design Thermal design & analysis Lunar environmental qualification Mobility & Lunar Night Survival
5 Lunar Rover Development in Canada Current Projects Midsize Rover Development (TRL-6 Drivetrain) ODG-Argo (Canadensys, Bombardier Rec.) Lunar Rover Night Survival Canadensys (ODG-Argo) Lunar Rover GN&C MDA, NDG Small Lunar Rover Development ODG-Argo (Canadensys, Bombardier Rec.) Soil Hazard Detection Mission Control (ODG-Argo, Canadensys) Lunar Rover Wheel ODG-Argo
6 Lunar Rover Development at ODG First became involved in lunar rover prototype development for the Canadian Space Agency in 2008 CSA was looking to inject terrestrial off-road vehicle design expertise into lunar rover program Led mobility platform design for six generations of rovers, including prime on two current programs Juno Juno II Artemis Artemis Jr. LRPDP SPRP
7 Rover Traction Systems Two generations of metallic tracks for Canadian Space Agency Five generations of compliant metallic wheels
8 Rover Traction Systems Lab testing in GRC-1 simulant Over 100 km of real world testing in analogue terrain Scalable: ~ cm Traction Coefficient Comparison : Traction Coefficient Vs Slip Rate TIRELESS irings Runamuk - 4psi ARGO 22'' - 4psi ARGO 24'' - 4psi Slip Rate %
9 March 2016 TRL-6 Drivetrain 120 kg platform mass 280 kg launch mass
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12 Apollo Valley Hawaii MMAMA testing - Rover - Wheel - Rough terrain mobility - Power system
13 Mauna Kea Hawaii RESOLVE test - Wheel - Drive system - Power system - De-landering
14 ODG Rover Design Philosophy: K.I.S.S. (Keep It Simple, Scientist) Fewer parts 2 inboard motors with chain drive vs. 12 outboard motors Reduced mass Lower cost Skid steering Typical for terrestrial vehicles operating with low ground pressure Reduces envelope of vehicle, allows for bigger wheels Modular Self-contained drive system Accommodates multiple payloads Multiple mission compatibility Highly Mobile High terrainability reduces risk and reliance on navigation Ability to enter PSR s
15 Current Activity Leading two CSA contracts on development of rover technology Lunar Rover Platform and Drivetrain Prototype (LRPDP) includes drivetrain to be qualified to TRL-6 in dirty TVAC test (simultaneous vacuum, temperature & regolith exposure) at NASA-GRC in Nov Next-Generation Lunar Wheel Development Small Planetary Rover Platform (SPRP) Key technologies for ISECG Roadmap
16 Dimensions LRPDP (aka Lunar Rover Drivetrain Vacuum And Dust Rated) 120 kg base mass 1.6 X 1.6 meters 55 cm wheels Modular payload interface Large, central payload Up to 160 kg High mobility Enables operation in and around PSR s 50 cm/s Obstacles up to 450mm high Rejected acronymical name Canadian Lunar Initiative for Volatile Extraction LRD-VADR
17 Rover Drivetrain Central Motor Thermal and contamination protection Multi-stage non-contact dust seal Minimal drag Minimal wear Eliminates dust ingress into wheel bearing Minimal complexity/mass Reduced number of failure points Optimized for terrainability Slopes Rocks Soft/deep regolith
18 TRL-6 Drivetrain TRL6 Design Lunar Thermal Lunar Dust Environmental Design & Test Radiation; Vacuum Drivetrain unit 1 motor, 2 chains, sprockets, bearings, housing Exposed to vacuum & Chenobi regolith simulant in NASA Glenn VF-13 dirty TVAC chamber Operated over temp range of -70 C to +130 C Exposed to cold survival temp of -180 C Total test time approximately 15 days
19 TRL-6 Drivetrain Environmental Testing Test rig for VF13 dirty TVAC test Based filled with Chenobi regolith simulant Conveyor system (external sprockets, chains and scoops) used to distribute simulant over drivetrain unit
20 Test profile Reversing load 25 degree slope equivalent Vehicle speed 0-50 cm/s Start/stop TRL-6 Drivetrain Environmental Testing
21 Small Lunar Rover (SPRP Small Planetary Rover Platform) 1.2 X 1.2 meter High mobility TRL-6 compatible drivetrain 90 kg base mass 50 cm compliant wheels Q delivery Scaled technology from LRD-VADR
22 Future Work Lunar night survival up to 14 days in shadow (less in polar regions) Long-duration survival of electronics in extreme cold temps (down to -233 C) Longer mission duration (> 14 days) Longer endurance total distance travelled > 25 km Longer-duration wear effects of lunar regolith High mobility Take your rover, and put it where the sun don t shine.
23 Thank You Questions?
24 This is a duplicate slide to ensure that if I click accidentally I don t go to my backup slide without meaning to. Thank You Questions?
25 Rover Commercialization Development of terrestrial rover ARGO J5 Improved dust/thermal protection Multiple battery options Multiple traction options Applications Agricultural Security Military Industrial
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