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By Marco Calso Sarabia
Systems Considered
Quadruplex Wheels
4 Wheel Drive, 4 Wheel Steer
Duplex Wheels
2 or 4 Wheel Drive, 2 Wheel Steer
Neutral Steering Tracks
Two-Direction Drive Tracks
Simple Tracks or Wheels
Wheels: Front Axle Steer and Rear Wheel Drive
Tracks: Single-Direction Drive Tracks
Relevant Design Objectives
Evaluation Criteria
Steerability
Gauged by maneuvering area necessary to turn around fully.
Regolith Interface
Regolith lodging in mechanical components and unclean aeration of regolith (NASA Lunabotics Scoring Criteria).
Contact Surface
Contact Area Maximization for optimal lunar terrain management.
Track pattern optimization.
Propensity for Failure
Ability for system to get stuck and active run is terminated with rover disqualified.
System Mass
General Mass of System (NASA Lunabotics Scoring Criteria).
Suggested System: Neutral Steering Tracks
Reconciling System Downsides
Advised team has an existing Track System Infrastructure/belt; cost-effective.
Minimized Regolith Interference and Mass by utilizing electric motors rather than a mechanical chain system.
Weighted Categories
Minimizing run-ending failure (RDO: Propensity for Failure).
Optimizing contact area (RDO: Contact Area) as loss of friction and slippage have been problems in the past.
Spreading its weight across a large area reduces sinkage and unnecessary non-conservative energy loss.
Potential for Innovation
Desert track patterns to avoid regolith clogging tracks.
Friction minimization coatings on track-pattern-interior to facilitate regolith dislodging.
Utilization of a single electric motor on a track belt with an idle second wheel as opposed to a mechanical chain and gearbox system.
Speed holes and regolith deterrence screens (i.e. acrylic, mesh) to reduce system mass.
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