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 Please use this identifier to cite or link to this item: http://hdl.handle.net/1807/25422

 Title: Power-scavenging Tumbleweed Rover Authors: Basic, Goran Jurisa Advisor: Barfoot, Timothy D. Department: Aerospace Science and Engineering Keywords: tumbleweed roverinflatable robotpendulumpower generationgeneratorplanetary explorationspherical robot Issue Date: 14-Dec-2010 Abstract: Most current space robotics vehicles use solar energy as their prime energy source. In spherical robotic vehicles the use of solar cells is very restricted. Focusing on the particular problem, an improved method to generate electrical power will be developed; the innovation is the use of an internal pendulum-generator mechanism to generate electrical power while the ball is rolling. This concept will enable spherical robots on future long-duration planetary exploration missions. Through a developed proof-of-concept prototype, inspired by the Russian thistle plant, or tumbleweed, this thesis will demonstrate power generation capabilities of such a mechanism. Furthermore, it will also present and validate a parametric analytical model that can be used in future developments as a design tool to quantify power and define design parameters. The same model was used to define the design parameters and power generation capabilities of such a system in Martian environment. URI: http://hdl.handle.net/1807/25422 Appears in Collections: MasterInstitute for Aerospace Studies - Master theses

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