Lunar Ejecting Robot NASA Hunch

Lunar Launchers

Taha Nilforooshan, Harshil Goyal, Athindra Sathishkumar

Mission of the project

The lunar robot and its camera address the challenge of exploring and documenting the Moon's surface in detail while overcoming harsh and unpredictable environmental conditions.

Traditional human-led missions are costly and risky, making comprehensive data collection difficult.

A compact, autonomous robot with advanced imaging capabilities allows efficient high-resolution visuals of the lunar terrain, and its small size enables multiple units to be transported simultaneously for enhanced efficiency.

Inspiration

Jumping mechanism- Unfeasible

Traditional wheel - Traction in fine lunar dust

Designs - Lacked robustness for durability and efficiency

CAD Before

Originally we were going to have a hub and a smooth wheel. We didn't do a traditional wheel because it woudn't move well on lunar sand

CAD After

The current design is shown to the right. The black legs to the side will act as skis for the robot to traverse within the lunar regolith. The wheel in the middle is for the robot to lean on, with protrusions revolved around it to act as treads for it to have better traction. The robot is made of carbon fiber nylon (PAHT-CF filament) to ensure durability with the regolith and to make sure the robot can withstand extreme temperatures on the moon while being lightweight.

Software Features

SLAM - Simultaneous localization and mapping by using the camera to track where the robot is and where it has been to interpolate where it is.

Odometer - Using an IMU sensor and encoder to predict where the robot is.

Localization - Uses Encoders, Camera, and IMU to predict if it gets stuck and adjust where it is based on that.

Sensor Fusion - A Kalman Filter to filter through all the sensors’ data and create an accurate prediction of where we are.

Parts

Frame: 3D printed Carbon Fiber Nylon

Ejecting System: Springs Linear Actuator

Camera: OpenMV4 Cam

Drivers: MOSFET, Dual Motor Driver Carrier

Propulsion: Motor

Sensor: 9-Axis IMU

Power: 7.4 Volt 2s LiPo Battery and Pololu 5V, 5A Step-Down

Math

The gravitational force on the moon is 1.625 m/s^2.

Lunar sand is on the moon, so our robot has to be able to traverse a sandy environment.

Power for travel: 0.161Wh

Ejection force calculation: 0.035 J

Ejection Simulation

Link to the code

Mass of robot: 0.02911 slugs

Time of flight: 1.49487 s

Initial horizontal velocity: 1.33791 ft/s

Kinetic energy required: 0.02606 ft·lb

Required ejection force: 0.31269 lb-force

Brochure

Questions?

Contact Harshilgoyal73@gmail.com to get more information on the project

Teacher: Mrs. Christie Micks

School Names: Walnut Grove High School & Rock Hill High School

NASA Hunch | 2025

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