The Plow

1
The Plow

• Life in the Atacama 2005Science Technology
  WorkshopJanuary 6-7, 2005
• Chris WilliamsCarnegie Mellon University

2
NOT the Plow
Deployment mechanism
Putty knife
3
Plow Objectives

• Plow Scientific Goals
• - Turn over rocks
• - Allow examination of life in sub surface soils
• - Break up Desert Pavement and other tough
  surface structure
• Engineering Goals
• - Automated Deployment and Stowing
• - Maintain High ground clearance and rover
  mobility
• - Allow plowing of uneven desert terrain
• - Low Power Consumption
• - Durability for rover and plow

4
Plow Overview

• Specifications
• Blade 11 wide, 28 cm
• Deploys down 37cm
• Aluminum Blade and Leg structure
• Spring and Dampener attached to linkage
• Constant ground pressure and Adjustable preload
• - Located in rear of robot facing rear

5
New for 2005

• Motorized Actuation
• - Powered by dc servo motor
• - Allow for quickening the time needed to plow
• Break Away mechanism
• - Plow will still move large rocks
• - Bottom of Plow structure flips backwards over
  a certain amount of force
• - Relocks into position, when stowed
• - Will allow plowing of potentially imbedded
  rock beds

6
Plow Operation w/ Imager

• Imager Plow Operation
• The Rover Begins w/ imager over intended target
• Imager is stowed (if deployed)
• Rover drives forward 100cm
• Deploys plow to ground
• Rover reverses for 100cm
• Plow is stowed
• Imaging begins over same spot

• Issues
• On steep terrain with loose traction it can be
  difficult to return to the same spot

7
Plow operation w/ Spectrometer

• Use in 2004
• - Science plan called for Robot to back up 1m,
  and .5 m after initial plow manuever
• - Spectral Panning
• - Issues with the robot shadowing
• Sun location and times of day an issue
• Imager plow maneuver is not required for plow
• Plow is low time, and very low power consumption
• Other possibilities?
• Initial plow before pan?
• Plow before imaging?
• Leave plow trench overnight?

8
Action.