NASA ALLGO Challenge

grabcad

Hi all, this is my entry into the challenge. The inflatable structure has 4 legs and each leg has 2 separate wheels fitted for better stability during deployment and operation. Each wheel has its own motor and so maximum flexibility can be achieved since the gantry can move in any given direction. The legs are protected with shields that unfold like harmonica-style (see gif) and protect the soft legs from micro debris. This shield is bonded to the inflatable structure on top and connected by hinges to the wheel platforms at the bottom. Each wheel platform contains 1 gas tank and a battery which is inside, behind a glass door to protect it. The idea here was to keep some heavy components closer to the ground to bring the center of mass down, as well as enabling more load to be lifted. I also placed some light tubes around the platform, as well as cameras and lights to the front if someone was thinking of making this an autonomous drive or just to help operator control the gantry. The platforms can also accommodate external power connectors to survive lunar night. On top of the structure is large inflatable base with rigid platform sat on it, containing cables that divert power from solar cells, antennas and 2 motors that serve as gantry. The rigid platform is held in place via 4 flexible stretched belts (brown belts 90 degrees apart) as well as center piece which goes through the inflatable base. The packed state of this mobile gantry enables smooth drive out of a lander. The walls protect the insides and later unfold to serve as solar cells (See gif). The overall mass is estimated to be around 1000 kg depending on scale and materials used. Feel free to comment and thank you, I really enjoyed this challenge :)