Midterm Report. Wind Powered Martian Robot. Dr. Maxwell ME Texas Tech Tumbleweed Team College of Engineering Texas Tech University
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1 Midterm Report Wind Powered Martian Robot Submitted to Dr. Maxwell ME 4370 Submitted by Texas Tech Tumbleweed Team College of Engineering Texas Tech University Team Members Casey Hille Cody Moody Scott Rose Kevin Kerr November 5, 2001
2 Objective The objectives of this project are to produce simple, redundant, vehicle probes capable of landing on the Martian surface and transmitting soil composition data to an orbiting craft. Wind tunnel and impact testing will be conducted to insure performance in the Martian environment. Technical Approach This project will be carried out from the initial concepts to a final working design. The rover will be a wind-propelled device not unlike the tumbleweed common to West Texas. This travel mechanism eliminates the need to design a propulsion system and the necessary power supply. Several round models have been constructed and were subjected to preliminary testing. Of these models, three have been selected for further testing. Each design represents a different design concept, material, or geometry. The evaluation of the models will lead to the creation of a final design concept that will serve as the basis for the final design. Once the final design has been selected, construction of a working prototype will begin. The machine shop at Texas Tech University will be used to construct the rover. At the same time as the functioning model is being produced, a scale prototype will be constructed for testing in the Texas Tech University Wind Tunnel facilities. Test parameters will be defined based on those conditions found on Mars. Equivalent wind speeds will be determined and a representative a Martian surface will be constructed. This surface will include not only surface texture and geometry, but will produce the necessary surface effects. The model rover will be tested at various critical orientations and the drag calculated as a function of the rover s three-dimensional position in space. This data will be used to ensure that the Martian wind will be able to effectively transport the rover over the Martian surface.
3 Upon the completion of the working prototype, testing and validation of this prototype will begin. The working prototype will be tested in the Texas Tech Wind Tunnel facilities to validate the scale prototype test results. Next the prototype will undergo deployment, free fall, and surface impact testing. The prototype mass will be increased as necessary to create a free fall velocity consistent with the free fall velocity through the Martian atmosphere. After any necessary adjustments to the mechanical prototype have been made, work will begin on installing the necessary sensors and circuitry. Depending on the level of expertise needed for this stage of development, an electrical engineering student may be called upon to compete the electrical work. The mechanical prototype will be designed to allow the installation of the necessary solar panels and electrical circuitry. It is anticipated that the sensors will be simple and element specific. Transmission of information back to an orbiting craft will be through a simple radio or LED pulse signal. Models This section will describe in detail the models the group has come up with to date. A picture of the model will be shown followed by a short detailed description. The Primary Autonomous Research Terrestrial Inspector (PARTI ball) is a self opening probe. This model was constructed out of commercially available poster board. It is deployed by a torsion spring, loaded axially in the storage state. Sensors aligned along the outer rims are able to penetrate the upper sediment layer of the Martin surface. In
4 preliminary testing it has proved to be quite mobile in the wind. However, if gaps between ribs are too large possible stalling points exist. A similar model was produced out of a more rigid material and used for functionality demonstration. This model will deploy on its own via pre-tensioned rubber bands. The mating flaps were redesigned so that the model has perfect symmetry when deployed. The Pointed Observational Shuttle (POS) was modeled after the indigenous tumbleweed. Individual arms of the shuttle will be constructed out of a highly elastic, zero memory material. Webbing will allow placement of solar panels and produce the necessary drag. Sensors will be affixed to the end of each arm. The circuitry will be contained in the center of the probe with the antenna protruding from one or multiple arms.
5 A very promising preliminary construction material is lightweight foam. The foam allows for easy construction with no moving mechanical parts. The final rover would be very light yet able to provide excellent protection for the internal circuitry. The lowdensity foam would allow compaction during transportation and an automatic opening mechanism in the low pressure of the Martian atmosphere. Studies are currently underway to determine the optimal geometry for this model. We have begun a search for a commercially available foam capable of surviving in the Martian environment. Project Personal There will be four principle student investigators and one faculty advisor working on the project. Each investigator has a specific skill or interest they will bring to the project. The four student investigators will be Kevin Kerr, Scott Rose, Cody Moody, and Casey Hille. The faculty advisor on the project will be Dr. Barhorst. Kevin Kerr is senior mechanical engineering student will a background in organic and inorganic chemistry. Mr. Kerr s interests include fluids, heat transfer, thermodynamics, and material science. Mr. Kerr has experience in the material and mechanics laboratory and experimental instrumentation. He will be in charge of the experimental setup and test procedures. Scott Rose is a senior mechanical engineering student with a particular interest in dynamics, systems and vibrations, and controls. Mr. Rose has experience designing,
6 drafting, and constructing mechanical systems. Mr. Rose will be in charge of prototype design, final design specifications, and CAD modeling and testing. Cody Moody is a senior mechanical engineering student with a background in aerodynamics. Mr. Moody s interests include controls, dynamic systems, and experimentation. Mr. Moody has experience in the Texas Tech Wind Tunnel facility and the material and mechanics laboratory. He will be in charge of experimental data assimilation and interpretation. Casey Hille is a senior mechanical engineering student with extensive machine shop experience. Mr. Hille s interests include mechanics and materials. Mr. Hille will be in charge of material selection and final design construction. The project will utilize the Texas Tech Machine Shop and Texas Tech Wind Tunnel facilities. The machine shop has a complete line of machine equipment and will be adequate to meet the project needs. The Texas Tech Wind Tunnel facility is capable of testing both scale and full size models under conditions equivalent to the Martian environment.
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