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dc.contributor.advisorSteven Dubowsky.en_US
dc.contributor.authorKesner, Samuel B. (Samuel Benjamin)en_US
dc.contributor.otherMassachusetts Institute of Technology. Dept. of Mechanical Engineering.en_US
dc.date.accessioned2008-09-03T15:17:09Z
dc.date.available2008-09-03T15:17:09Z
dc.date.copyright2007en_US
dc.date.issued2007en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/42304
dc.descriptionThesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.en_US
dc.descriptionIncludes bibliographical references (leaves 82-86).en_US
dc.description.abstractSmall hopping robots have been proposed that offer the potential to greatly increase the reach of unmanned space exploration. Using hopping, bouncing, and rolling, a small spherical robot could access and explore subterranean areas, such as craters and caves, on distant planets. Hopping mobility allows the robot to overcome larger obstacles than conventional wheeled rovers. Bouncing and rolling allows the robot to infiltrate underground areas too challenging and dangerous for manned exploration. The robots would use onboard sensors to explore and search for signs of water, biological material, and other items of interest to scientists. This thesis studies the power and mobility feasibility of the Microbot hopping robot concept. One of the most important mobility issues for autonomous robots is the availability of energy and how that energy is used. The Microbot utilizes a hydrogen fuel cell power system. A fuel cell power system design is proposed and an experimental prototype device was constructed and tested. The results presented indicate that a miniature hydrogen fuel cell power system is a feasible energy generation option for the Microbot system concept. The feasibility of the hopping mobility system is also investigated. An integrated power consumption model of the Microbot is proposed and the ability of the Microbot power and mobility systems to complete a Martian reference mission is demonstrated. Simulated studies of the mobility system's capacity to overcome obstacles and navigate the Martian terrain are presented. The results of these simulations are analyzed and the mobility and power system design tradeoffs are examined. Finally, recommendations for future research are made.en_US
dc.description.statementofresponsibilityby Samuel. B. Kesner.en_US
dc.format.extent96 leavesen_US
dc.language.isoengen_US
dc.publisherMassachusetts Institute of Technologyen_US
dc.rightsM.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.en_US
dc.rights.urihttp://dspace.mit.edu/handle/1721.1/7582en_US
dc.subjectMechanical Engineering.en_US
dc.titleMobility feasibility of fuel cell powered hopping robots for space explorationen_US
dc.typeThesisen_US
dc.description.degreeS.M.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineering
dc.identifier.oclc232363044en_US


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