Enabler Chassis Features and Mobiltiy Analysis

by James S. Hollinger, Western Wheel Georgia, Gainesville, United States,

Document Type: Proceeding Paper

Part of: Robotics for Challenging Environments


The Enabler is a proposed Lunar Base work vehicle. The unique construction of the Enabler's six-wheeled chassis provides unusual articulation for steering, balancing, and overcoming obstacles. The chassis kinematics are related to the old stove pipe joint sections as well as familiar contemporary robots and hard space suits. The Vykukal Master/Slave robot is an example of a mechanism having powered non-orthogonal joints and NASA's Ames AX-5 space suit is an example of similar joints that free-wheel. The two non-orthogonal articulation joints of the Enabler allow the front or rear axle to deviate from the vehicle's longitudinal axis by thirty degrees (see Figure 2). This articulation can be used to change yaw of the axles to steer, the pitch of the axles to overcome large obstacles, or a combination of yaw, pitch and roll to accommodate terrain.

Subject Headings: Space colonies | Robotics | Vehicles | Space stations | Pipelines | Pipe joints | Federal government | Equipment and machinery

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