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SKITTER foot designA mechanical design team was formed to design a foot for the lunar utility vehicle SKITTER. The primary design was constrained to be a ski pole design compatible with the existing femur-tibia design legs. The lunar environment had several important effects on the foot design. Three materials were investigated for the SKITTER foot: aluminum alloys, cold worked stainless steel alloys, and titanium alloys. Thin film coatings were investigated as a method of wear reduction for the foot. The performance of the foot is dependent on the action of the legs. The range of motion for the legs was determined to be vertical to 15 degrees above horizontal. An impact analysis was performed for the foot movement, but the results were determined to be inconclusive due to unknown soil parameters. The initial foot design configuration consisted of an annulus attached to the pointed pole. The annulus was designed to prevent excess sinkage. Later designs call for a conical shaped foot with a disk at the point of the tibia attachment. The conical design was analyzed for strength and deflection by two different approaches. A deformable body analysis was performed for the foot under crane load in crane position, and also under actuator load in the vertical position. In both cases, the deflection of the foot was insignificant and the stresses well below the strength of the titanium alloy.
Document ID
19910002469
Acquisition Source
Legacy CDMS
Document Type
Contractor Report (CR)
Authors
Choi, Gene (Georgia Inst. of Tech. Atlanta, GA, United States)
Jones, David L. (Georgia Inst. of Tech. Atlanta, GA, United States)
Morris, James (Georgia Inst. of Tech. Atlanta, GA, United States)
Parham, Martin (Georgia Inst. of Tech. Atlanta, GA, United States)
Stephens, Jim (Georgia Inst. of Tech. Atlanta, GA, United States)
Yancey, Gregg (Georgia Inst. of Tech. Atlanta, GA, United States)
Date Acquired
September 6, 2013
Publication Date
August 25, 1987
Subject Category
Spacecraft Design, Testing And Performance
Report/Patent Number
ME-4182
NAS 1.26:184932
NASA-CR-184932
Accession Number
91N11782
Funding Number(s)
CONTRACT_GRANT: NGT-21-002-800
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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