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T-Space at The University of Toronto Libraries >
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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 rover
inflatable robot
pendulum
power generation
generator
planetary exploration
spherical 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:Master
Institute for Aerospace Studies - Master theses

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