WedgeMaster

grabcad

A set of two foldable robotic carriers. A pair of carriers is capable of lifting the Common Habitat Module by a wedging action created by their opposite movement towards the Common Habitat Module's axis. Two carriers approach the Module from its sides and then start to align themselves along its axis. Next, the carriers shorten the distance, so they touch the Module on its rings adjusting their height, so the wedge-shaped claw can go under the Habitat.Obtaining sufficient friction with the ground to lift the module would be the major challenge. It could be solved in two ways:1. The claw clamps onto the ring using a set of clamps. Now, the carrier can push itself under the Habitat, repelling itself from it. Just like, a human could try to move his feet under the desk with sliding motion while holding forcefully the desk (that is fixed to the ground) and repelling himself of the desk.2. Each carrier could be equipped with a set of anchors that allow it to push itself off the ground under the Habitat Module.The Module could be lifted straight from the ground, with no additional support frame. Each carrier has a wedge-claw with set of rolls and supporting wheels serving two purposes - lifting and holding the Module and being a support for the carrier during taxi. Also, using the series of rolls, the Module's tilt adjustment along its axis could be achieved. Moreover, - the wedge-claws are pivoted, what can be useful when traversing a slope parallelly, while the carrier on one side is higher than that on the opposite side.Wheeled arms are mounted parallelly to the body of the carriage with no perpendicular overhangs, making it more stiff and making it more densely packed. Arms's movement is limited to only one plane. Angular movement of wheeled arms could be driven by a self-locking linear screw actuators.The clamps could be latched together under the Common Habitat Module, forming a more uniform vehicle.For a space flight, clamps can be transformed into a less space occupying configuration. After unloading from the spaceship on two pairs of cables, the carrier could be placed directly on the ground; thanks to special "landing" feet (not shown), thus the carrier would not collapse to the side. It could be driving-ready after the clamps (equipped with support wheels) have been fully spread, and the wheeled arms have been lowered down just slightly (in ground direction).