Prototyping of Lunabotic Excavator Robotic System

Abstract

In this chapter, the design and prototyping of a lunar excavator robotic system is proposed. The lunabotic excavator was developed for participating in 2010 NASA Lunar Excavating Competition. Being remotely controlled by operator using a computer via Wi-Fi telecommunication, the autonomous lunabotic excavator can perform the tasks of excavating regolith stimulant, collecting it in the dumpster, and dumping it into the assigned collector box. The design and prototyping of the lunabotic excavator robotic system are discussed. The excavator includes multiple modules including mechanical frames, front/rear wheels, excavating conveyor, steering system, dumping system, power supply and distribution system, actuation system, switch control system, data acquisition system, and telecommunication system. The lunabotic excavator robotic system has been implemented. The excavator can perform the expected functions as designed. The lunabotic excavator designs in NASA Lunar Excavating Competition may lead to new and effective robotic excavators for planetary exploration. The design and prototyping strategies used in the lunabotic excavator may be extended to other ground wheeled vehicles or remotely-controlled robotic systems as well.