k

'd

FINAL
ME
"Design

REPORT

4182

DESI6N

of

Lunar

Submitted

to

June

_r.

3_

Backhoe"

Brazell

1985

Submitted

by:

Brian
Hatchell
Jeff
Krueger
Scott
Landers
Steve
Doll
Rob Schenk
Rick
Wilkins
( Team
2 )

(NASA-CR-Id2847)
Final
129

Report

dESIGN
(Georgia

OF
Inst.

LUNAR
of

N90-/1224

_ACKriO_

Tech.)

00/37

w_

ABSTRACT

This
report
examines
the the design
of a backhoe
to be used
on the moon's
surface.
Several
modifications
had
to be made
to
the
existing
conventional
backhoe
to. make
the backhoe
suitable
for
the
lunar
environment.
Among
the
problems
encountered
include
dissipating
heat,
controlling
the
backhoe
in a soundless
vaccuum_
and
accounting
for the difference
between
the earth's
and
the
moon's
gravitational
fields.
This
group
was
left
free
to
determine
its
own design
parameters
for
backhoe
performance.

PROBLEMSTATEMENT

Backqround
NASA
is currently
looking
into the
feasibility
of building
a lunar
base
station.
Out
of necessity_
there
is now
a
requirement
that
specialized
earth
moving
equipment
be designed.
This
equipment
must
be able
to work
in the
lunar
environment
as
well
as have
the
capacity
to perform
its function
on the
lunar
soil.
This
particular
team
has
been
designated
to design
a lunar
backhoe.
The design
will
incorporate
some
of the
basic
kinematic
and fundamental
principles
of an analogous
earth
backhoe.
Ho_ver_
there
will
be modifications
to the
controlling
(maneuvering)
system
and power
system
of the backhoe.
This
team
has been
left
free
to set
its own design
and performance
specifications.

Performance
The
backhoe
must
be able
to interface
with
the
given
tractor
design.
This
interface
_ill
consist
of 5_th
a physical
coupling
and,
in this
case_
a hydraulic
coupling.
The
hydraulic
lines
will
be shielded
to prevent
high
heat
buildup
due
to the
constant
solar
radiation.
As a further
precaution_
the hydraulic
fluid
will
have
a flash
point
in excess
of 400
degrees
F ( 205
degrees
C).
The
backhoe
will
exert
high
digging
forces,
which,
along
with
the weight
of the backhoe_
will
have
to be
counterbalanced
by the
weight
of the tractor
and outriggers
on
the backhoe.
This
digging
forcer
as yet unspecified,
will
be in
the range
of 1000
Ibs.
as a result
of the combined
cylinder
forces
in excess
of 9000
lbs.
The capacity
of the bucket
will
be
in the
range
of 7 cu.
ft. and
the maximum
digging
depth
will
be
in the
range
of 120 in.
(304.8
cm).
The bucket
may
be equipped
with
quick
disconnects
to allow
for the
easy
installation
of
other
buckets_
other
tools_
etc.
The different
links
will
be
designed
to be lightweight_
have
low heat
capacity,
and have
high
strength
to prevent
bending.
This
criterion
will
give
rise
to a tube
design.
The backhoe
will
also
have
to be a free
standing
unit
when
not
in use.
Environmental
limitations
will
necessitate
designing
a
remote
control
package
for
the backhoe.
These
controls
may
have
a resistant
feed
back
loop
so that
the
operator
can
"feel"
the
backhoe
working_
or a relief
valve
may be placed
in the
hydraulic
system.
Both
of these
precautions
will
prevent
the
operator
from
overloading
the
system.

Constraints
The
main
constraint
of the backhoe
is the
lunar
environment.
Basically,
it is in a vacuum,
constantly
night
day,
with
a constant
influx
of solar
radiation
and
one
sixth

or
the

gravity
of earth.
This poses several
problems for the backhoe.
There will
be a large heat buildup
in any mass put there and the
only means of heat transfer
will
be by radiation.
Thus_ it will
be difficult
to dissiPate
heat due to friction
or heat buildup
in the hydraulic
lines.
Since there is only one sixth
the
gravity
as that
on earth,
it will
be difficult
to counterbalance
the digging
forces.
Due
to the
vacuum_
it will
be necessary
for
the
operator
to wear
a spacesuit
and
this
will
limit
the
operator's
maneuverability
and
his field
o vision.
The vacuum
will
also
make
it impossible
to hear
the equipment
operating.
The
lunar
soil
is also
a limiting
factor.
The
soil
is a
cohesionless_
fragmental
rock
type.
It will
be very
abrasive
to
the
materials
and
will
necessitate
the use
of very
hard
materials.
It is also
a powdery
top soil
which
will
further
limit
the
operators
_ield
o_ vision.

CONTROLS

The
open
loop
control
system
used
to control
the backhoe
cylinders
consists
of a stack
of six electro-machanical
servo--valves,
a handheld
controller/transmitter,
and
a radio
recei vet.
The
valves
are
four-position,
two
way,
closed
center
directional
servo-valves
that
uses
a torque
motor
to control
a
spool
that
diverts
the hydraulic
fluid
into
and
out of the
cylinders.
The
position
of the
spool
is proportional
to the
magnitude
of current
to the
motor.
The amount
of flow
of the
hydraulic
fluid
is controlled
by the
position
of the
spool.
At
the null
position,
no flow
passes
to the cylinders,
and at full
rated
current
to the motor,
full
rated
flow
is driven
to the
cylinders.
Six valves
are used
to control
the backhoe:
one
each
for
the
shovel,
bucket,
dipstick,
swing,
and
left
and
right
outrigger
cylinders.
One
valve
is used
to control
the
two swing
cylinders.
The
valves
that
were
selected
are
stackable,
with
one
connection
needed
for
inlet
pressure
and one
for
oulet.
Full
pressure
( 2500
psi
) is available
to each
cyclinder.
To prevent
the operator
from
overloading
the system,
relief
valves
are
located
at the
inlet
manifold
and at each
valve
stage.
Each
of
these
relief
valves
are
to be set at 2500
psi.
To limit
the
maxium
force
exerted
by the
cylinders,
pressure
control
valves
are
to be placed
between
the
valves
and
the cyclinders.
The
maximum
temperature
under
which
the
valves
can be
operated
is 100 degrees
Celsius
using
Viton
seals.
With
the
hydraulic
fluid
heat
exchanger,
the valves
should
be suitable
for operating
for an indefinite
period.
Other
specific
information
for
the valves
is located
in the
appendix.
The
valves
are controlled
by a radio
receiving
unit
that
drives
the
torque
motor
with
a current
proportional
to the
strength
of the
input
radio
signal.
The
input
signal
is
multiplexed
to allow
for maximum
signal
reliability.
Other
features
of the
receiver
include:
environmentally
sealed
NEMA-4
Junction
Box_
internal
mountings
that
permit
the
unit
to be
directly
mounted
to the backhoe,
a plug
in card
that
mates
the
receiver
to one
sending
unit
so that
several
backhoes
may
be
operated
in one
area,
and ramp
output
for
the
proportional
controls
for
smooth
cylinder
motion.
The
receiver
requires
a 12
volt
power
source,
so that
the box can
be directly
connected
to
the
tractor's
battery.
The
receiver
should
be mounted
on the
tractor
where
it will
not be physically
abused
and
where
it can provide
clear
line
of
sight
to the
operator
location.
It is suggested
that
the
receiver
be mounted
at the rear
of tractor
near
the
backhoe
interface.
The
receiver
can
be operated
at or below
140 degrees
Farenheit.
Given
that
the
reciever
will
be stored
at 70 degrees
Farenheit
and
that
the maximum
temperature
of the
backhoe
will
be 250
degrees
Farenheit,
a properly
shielded
and
insulated
receiving
box
could
be operated
for at least
4 hours
under
direct
radiation.
Material
suggested
for shielding
and
insulating
the
receiver
are
the
same
as those
used
to protect

the

hydraulic
lines.
The controlling/transmitting
device is a portable
handheld
sending unit
with 6 spring
loaded levers
for proportional
control
and 8 spring
loaded toggle
switches
for on/off
control.
Only the proportional
controls
will
be used to control
the
backhoe.
The sending unit can either
be clipped
to the space
suit
of the operator
or hung around his neck with a neck strap.
The controls
can be operated
with the operator
wearing gloves.
The sending unit uses a 12-volt
rechargeable
battery
that
provides
4 hours of continous
operation.
Other features
of the
sending unit
include:
environmentally
sealed UHF transmitter_
custom label for controls,
2 dead
man
switches
(one of whick
must
line

be depressed
to operate
the sending
unit),
and
1/4 mile
of sight
control.
A suggested
configuration
for the control
on the sending
unit
is provided
in Figure
I
. With
the controls
set up as
shown,
the
operator
can
use the
backhoe
for
digging
by squeezing
the dipstick
and
boom
levers
together
with
his
left
hand.
Also,
to dump
a load
of soil,
the swing
and bucket
levers
can
be
squeezed
together
with
the right
hand.
This
configuration
will
provide
maximum
convenience
for the operator,
and
was suggested
by an actual
backhoe
operator.
The
sending
unit
converts
data
from
the
on/off
switches
and
potentiometers
into
digitally
coded
l"s and
O's.
Five
bits
provide
for
thirty-two
possible
levels
of control
where
fifteen
are
for
+ and
-- control
each
and the
remaining
t_o
levels
provide
for
"control
off".
Scanning
of the
switch
and
potentiometer
positions
occurs
at a rate
of twenty
times
per
second.
]lle transmitter
is capable
of providing
four
different
FM

frequencies.
The
receiver
operates
at the same
frequencies
as the
transmitter.
An included
scanner
samples
the carrier
frequency
continuously
for a .15 second
period.
When
data
is received
it
is sent
to a "shift
register"
where
it is compared
to a code
card
to check
for
agreement
between
the
code
card
and
sending
code.
When
the
comparisons
are
checked
and
confirmed,
the data
is transferred
from
the shift
register
to the a position
in
memory.
The
data
is then
processed
through
buffers
and relays
for the
on/off
switches
and
digital/analog
converters
for
the
proportional
controls.
The next
digital
data
is similarly
scanned
and
if the comparisons
are successful,
the data
enters
memory
one
twentieth
of a second
later.
Included
in the
receiver
are
several
fail-safe
logics.
The sending
code
must
be verified
for each
data
set,
several
successive
ON commands
must
be
processed
to turn
the
function
on, and
"valid
transmission"
output
will
return
to zero
within
one-half
of a second
if
succeeding
command
data
is not
received.
The
control
system
for
the lunar
backhoe
was designed
to be
easy
and
safe
to use,
easy
to set up and
service,
and with
features
to prevent
the operator
from
damaging
the
system.
Radio
control
was
selected
over
manual
control
to give
the
operator
manueverability
to compensate
for his
inherent
difficulties
with
seeing
out
of a space
suit.
Moog
was
chosen
as a vendor
for
the
radio
controls
because
they
were
the
only
company
that
provided
a radio
transmitter
and receiver
that
could
be used
directly

Figure

Suggested

Control

Arrangement

for

Radio

Sending

Unit

hbuttont

Moog
Sending
Unit

Left

Swing

Out

Dipstick

Ri ght

In

Out

Up

Bu kt El.

Boom

In

Down

Down

Down

Left

Outrigger

up

Right
Up

Outrigger

with
servo-valves
without
additional
electronic
hardware.
Their
controller
is by no means
the most
convenient
one
that
could
be
designed
for
the
backhoe
operator:
a two
joystick
tummy
pack
would
provide
for
a system
closer
to the one
on conventional
backhoes.
The
joysticks
would
also
be easier
to use with
gloves
on the
operator's
hands.
But
designing
such
a unique
system
would
introduce
complexities
that
woud
require
matching
many
electrical
components
compatible
with
the
chosen
servo-valves.
The
sender/receiver
from
Moog
was specifically
designed
to be
compatible
and electrically
matched
for the
servo-valves.
So
with
this
system,
we have
a tried
and proven
system
with
no
com40atibility
problem.
The
chosen
valves
are stackable
into
a very
tight
configuration
for easy
mounting
on the
backhoe.
With
the relief
valves
on the
main
manifold
and for the
individual
cylinders,
the operator
or the
load
cannot
easily
overload
the hydraulic
system.
Also,
with
the
pressure
controlling
valves
between
the
cylinders
and the
valves,
the maximum
force
exerted
by the
cylinders
can be limited.
This
will
prevent
the operator
from
lifting
the
tractor
off the
ground.
The
specification
sheets
that
were
provide
by Moog
for
the
valves,
transmitter,
and receiver
are
provided
in the
appendix.

HYDR_I_LIC

SYSTEM

- GENERAL

SPECIFICATIONS

The hydraulic
system
is designed
to operate
using
General
Electric
Versilube
F-50
hydraBllc
fluid
over
a temperature
range
OF
to 2OOF.
Hydraulic
hoses
and cylinders
which
can operate
easily
under
these
conditions
have
been
selected
and
are
speclf_ed
in their
respective
sections.
In addition,
provision
has
been
made
for a liquid
convection
cooling
system
and
shielding
against
solar
radiation
so that
the
considerable
amount
of heat
generated
under
operating
conditions
can
be dissipated.
A_I
cylinders
are
double
acting
and honed
for
concentricity
and finish.
The piston
rods
are hlgh-tensile,
die
drawn
steel,
hardened,
ground,
polished,
and chrome
plated.
Cylinder
piston
packings
are of the chevron
type.
The rod packings
are of the
chevron
type
also,
but
incorporate
a
viton
"U" seal.
The
packing
gland
supports
and retains
the rod packing,
bearing
sleeve,
rod
wiper,
and backup
ring.
Cylinder
pivot
and
anchor
points
utilize
self
lubricating
bushings.
The
swing
cylinders
employ
a connecting
hose
at the rod
ends
of the cylinders
that
permit
oil
flow
between
them.
The main
control
valve
is a stack-type
assembly
consisting
of six
sections
containing
spring
centered,
remote
controlled
spools
which
direct
high
pressure
pump
oil
to the
individual
cylinder
circuits.
Each
circuit
contains
a spring
loaded
check
valve
to check
the flow
from
either
cylinder
port
to the valve
pressure
passage.
Also,
each
section
contains
adjustable
circuit
relief
valves
to protect
against
pressure
overloading.
The main
control
valve
is also
equipped
with
an inlet
end
cover
and
an
outlet
end
cover.
The
inlet
end
cover
contains
the inlet
port
and the
system
relief
valve.
The outlet
end
cover
contains
the
return
oil
port
which
returns
low pressure
oil
to the reservoir,
and
the backpressure
relief
valve.
The backpressure
relief
valve
is a simple
pilot
operated
relief
valve
that
functions
when
the
pressure
er than

in
the

the
return
oil
passage
is approximately
pressure
in the
sump
oli passage.

250

psi

great-

HYDRAULIC

FLUID

Method

Since
the

heat

and

the

The

shield

whole

simplist

outer

hoses,

an

rigid

tubing

System

hose

common

machined

be

turn

and

will

of

an

then

two

inch

and

assembled

necessary

is

to

the

fluid

will

the

heat

cannot

by

heat
this

fluid.

to

the
the

problem
This

to

The

sections

of

common

Atlanta,

stainless
(see

and

the

line.
the

be

contained

there
line

are

that

two

are

tubing.
can

Georgia.

hose

with

and

however,

enclose

will

outer.

is

transferred

hydraulic
is

hymuch

shield;

fluid

coaxial

the

be

where

rigid

and

produce

scheme

be

high

cool

hose

coaxial

assembled

moon

coaxial

tubing
in

to

the

blocked

radiate

with
a

of

be

on

is

air,

will

of

coaxial

manufacturers

no

solution

Components

can

is

line

inner

Th_s

in

it

friction

radiation

hydraulic

the

vacuum

there

will

One

temperature

The

since

The

hose

is

fluid.

it.

in

ambient

enviornment

draulic

to

the

COOLING

be

There

coaxial

hose

recommended

purchased
seems

hose.

The

later

drawings).

be

fittings.

teflon

steel

to

from

hose

fittings

no
The

inside
can

be

Backhoe

Design

All
the materials
used
in the backhoe
are
made
of an
aluminum
alloy
60&&-T&.
This
alloy
contains
the
strength_
workability_
and
machinability
necessary
for
the
tubular
design.
The
boom
member
is of a C-section
design
to provide
space
for
the
radiator
used
to cool
the
hydraulic
system.
The dipperstick
member
is a tubular
section
since
the hydraulic
components
are
not
internal
to that
member.
All members
have
been
designed
as a
constant
strength
beam.
This
criterion
is defined
such
that
the
sectional
modulus
is equal
to or greater
than
the
maximum
bending
moment
at a section
divided
by the
maximum
allowable
stress
in a member.
The
shape
of each
member
follows
the
shape
of the
bending
moment
curve
closely_
thus
defining
the
tapered
section
toward
the
pin ends.
All members
are
a constant
1/4 inch
in thickness.
The
inch
bucket
whose
be approximately

bucket
to be used
will
be
capacity
is 4 cubic
feet
& cubic
feet).The
backhoe

a standard
steel_
18
(heap
capacity
would
will
be made
with
a

quick
disconnect
at the
bucket
interface
thus
allowing
for a
different
bucket
or a different
tool
to be used.
The
guide
link
and bucket
link
will
also
be of aluminum.
All
pins
to be
incorporated
in the
backhoe
will
be of a carbon
steel
alloy.
At
each
pin
connection
there
will
be a pressed
fit sleeve
that
will
absorb
the
forces
and
distribute
them
evenly
to the aluminum.
In
this
way_
stress
concentrations
will
be greatly
reduced
in the
vicinity
of the pin
connections.
The
hitch_
which
is the physical
coupling
to the
tractor_
consists
of two parts:
the pivot
hitch
and
the
interfacing
hitch.
The
pivot
hitch
will
be of cast
aluminum
6066-T&.
This
where
the backhoe
connects
indirectly
to the
tractor.
The
function
of this
hitch
is to produce
the swing
angle
of the
boom.
It contains
the bore
hole
about
which
this
hitch
pivots
and
it also
contains
the single
pin connection
to which
the
swing
cylinders
connect.
The
interfacing
hitch_
as the
name
suggests_
is the
direct
connection
to the tractor.
The
interface

is

consists
of a hooked
bottom
and
a pin
connection
at the top;
this
will
allow
for
easy
disconnection
and connection.
The
hitch
consists
of a four
inch
tube
stock
frame
with
four
1 1/2 inch
aluminum
plates
welded
and
supported
to the
frame.
The
swing
cylinders
are
connected
in the center
of the two
sets
of plates.
The
stabilizer
cylinders
and
legs
are also
an integral
part
of
this
interfacing
hitch.
The
connection
between
the pivot
hitch
and
the
interfacing
hitch
will
be time
consuming
and
complicated.
First
the pivot
hitch
is press
fitted
with
a sleeve
and
inserted
between
the
aluminum
plates
on the
interfacing
hitch.
Once
the bore
holes
line
up_ the
sleeve
is then
line
bored
and the
resulting
bore
hole
is fitted
with
a pin.
We are
assuming
that
the bearing
surfaces
used
are
of a
non-lubricating
type.
This
will
eliminate
the
need
for
any
high
temperature
grease
or self
lubricating
bearings.

Hydraulic

Cylinder

Specific

Vendor

Information

Carter
Controls,
Inc. will
custom build
h_draulic
cylinders
to
the dimensions
listed
for their
Roundlin_welded
cylinders.
These cylinders
are capable of extended operation
at 450 degrees
F and 3000 psi.
The required
structural
specifications
were
developed
in the section
on cylinder
sizing.
Mounting conditions
are shown in the main diagram of the hydraulic
system.
Bucket

Cylinder

Special

Requirements

1) Pivot
Mount
Both
Ends,
Use
Eye RE 2.
2) Equip
Cylinder
with
external
tubing
such
that
both
connections
are
at cap enduse
3/4 ' steel
tubing
with
12 SAE
37 degree
Flared
male
fittings,
facing
cap
end.

Dipstick

Cylinder

Special

Requirements

1) Pivot
Mount
Both
Ends,
Use Rod
Eye RE 3.
2) Equip
Cylinder
with
external
tubing
such
that
both
connections
are at center
and facing
cap enduse
3/4"
tubing,
same
fittings
as bucket
cylinder.

Boom
1)
RC

Cylinder
Pivot
3.

2) Equip
conditions
Swinq

Special

Mount

1) Pivot
Mount
mount
RC3,
rod
2) No external

steel

Requirements

End,

Cylinder
with
as Dipstick

Cylinders

Stabilizer

Rod

1 1/16"-

Use

Rod

external
Cylinder.

Eye

RE

tubing

3.

CLevis

subject

mount
to

Cap

End-

same

(2)
Cap
End of both,
end of other
use
tubing.

Cylinders

rod
Rod

end
Eye

of
RE

one;
3.

use

CLevis;

(2)

1) Pivot
Mount
Both
Ends,
Use Rod Eye
RE 3.
2) Equip
Cylinder
with
external
tubing
such
that
both
connections
are at cap
end_
one cylinder
with
connections
at
right
angle
on left,
the other
cylinder
with
connections
at
right
angle
on right.
Use
3/4"
steel
tubing_
same
fittings
as
bucket
cylinder.

PIN

All
of

one

is

that

the

the

will

eye

inum

member

than

the

pin

The

absorb

shown

steel

in

to

insert

by

means

the

impact

over

machined

will

of

50

will

ossining,

will

high

temperature
be

in

the

be

purchased
New

York.

750F
from

in

bushing

temperature
of

drawing

and

Metalized

between
inside

the

will

scale.

sleeve

tool

welded

The

pin

lO00OF

and
having

machining

which

plate

through

be

at

The

is

capable

coupler

this

on

coupler

the

plate

member.

the

pin

type.

bearings
a

absorb

aluminum.

drawn

the

softer

sleeve

tolerances.

by

much

alum-

redistributing

the

steel

The

Thus

while

aluminum

used

is

problem

connecting

will

fit.

of

extend

pin

steel

nitride

place

main

clearance

area

"C"

held

in

alloy

4340

Boron

will

some

exact

Rockwell

non-lubricating
tm

to

steel.

holes

that

in

hard

bolts

aluminum

energy

shown

cubic

be

tapped

_etcar

very

eight

speed,

_5

use

this
pin

to

the
be

description

member.

drawings,

press

large

steel

the

an
a

The

aluminum

to

of

be

into

can

is

bored

Bearings

They

going

line

then

in

The

rest.

strength

impact,

and

will

working

shown

similar.

the

the

is

energy

Grade

called

to

member

machine

low

high

aluminum

operation

deep

of

be

for

any

there

some

a hardness

end.

be

as

upon

member

inserts

The

up

and

remaining

as

will

cylinder

solution

will

The

to

the

since

aluminum

needs

welded

the

the

connections

demonstrational

of

energy

them.

of

be

there

rod

the

pin

CONNECTIONS

maximum
Carbon

connections
The
and

will

bearings

are

are

capable

temperature
Corporation

be

of

of

900OF.

located

MATERIALS

In

the

minimize
found

that

some

aluminum

used
to

for

is

as

difficult
T6

fabrication

nesium
cents

of

far

poor
alloys

that

and

of

series
the

with

has

best

of

characteristics
are

recommended.

others

but

its

can
PSI

ease

of

both
alloy
1%

and

is

is

difficult
PSI

is

gas

to

by

7XXX

however,
T651

and

used
has

ex-

arc.

with

The

characteristics;

It

and

is

arc.

commonly

silicon

zinc

and

structures.

fabrication.
for

T736

commonly

welded

contains

6066

7050

welded

and

chromium.

the

Three

57000

be

suitable.

favorable.

and

for

was

strength

it

of

It

to

higher

First,

UTS

42000

contains

strength

a need

most
a

more

extrusions

aluminum

copper

have

however,

gas

UTS
of

7XXX

the

aircraft;

forgings
weld

be

the

consideration.

T651

has

magnexlum,

welding

to

is

toughness.

be

found

characteristics

GXXX

the

in

would
alloys

strength

because

welding

while

under

there

and

steel

6066

to

6061

The

was

forgings

used

cellent

by

were

Secondly,

Thirdly,
in

strength

fatigue

die

strength

aluminum

aluminum

the

weld.

commonly
It

strength

alloys

materials,

maximize

high

the

twice

structural

and

high

pound,

has

of

weight

Although
per

area

6061

and

mag-

smaller

per-

series

has

due

its

T6

to
are

the

COST

Vendor

Description
Note:
Core

all
hose
and
Steel

16" Flexible
20"
"
72"
"
20"
"
24"
16"
"
12"
"
24"
40"
"
28"
"
36"
"
54"
"
40 ....
36"
"
24"
"
40"
"
80"
"
32"
"
3/4"
Steel
Standard.`
12 Thread

ANALYSIS

is Deutsch
Co.
Braid
Cover.
Hose

Tubing.`
Use
1
Female

SAE 37deg
_ I ared
connections,
both
Bucket
Cylinder
Dipstick
Cylinder
Boom
Cylinder
Swing
Cylinder
Stabilizer
Cylinder

Teflon

Quantity
High

Pressure

84A0100012C016
84A0100012C020
84A0100012C072
84A0100012C020
84A0100012C024
84A0100012C016
84A0100012C012
84A0100012C024
84A0100012C040
84A0100012C028
84A0100012C036
84A0100012C054
84A0100012C040
84AO100012CO3&
84A0100012C024
84A0100012C040
84A0100012C080
84A0100012C032

Price
with

Teflon

1
1
6
1
1
1
1
2
1
1
2
1
1
2
2

$8.00
$10.00
$216.00
$10.00
$12.00
$8.00
$6.00
$24.00
$20.0O
$14.00
$36.00
$27.00
$20.00
$36.00
$24.00

1
2
2

$20.00
$80.00
$32. OO

2
1
1
1
2
2

$20.00
$300.00
$450.00
$700.00
$300.00
$4OO.O0

ibs

$2700.00

48 .
1/16

ends

Aluminum
Tubing
6066
T6
Manufacturing
o_ Materials
10 men
12 weeks
40 hrs/week
$18/hr
Pins
and
Sleeves
Sleeve
Insert
Bearings.`
high
temperature
Metallized
Corp.
Ossing.`
NY
Additional
Labor
Hydraulic
Lines_
10 men
8 weeks
40 hrs/week
3200
hrs
185/hr

Part#

900

4800

man/hrs
21
21
21

$86400.00
$882.OO
$441.00
$756.00

3200

man/hrs

$57600.00

etc.

Coaxial
Hose 350 feet
Bucket,
Standard
Rod Eyes
Shielding
controls
Note:

all

parts

are provided

by Moog Corp.

Proportional
Electrohydraulic
Directional
valves for dipstick,
boom
and swing cylinders
A65-20-3-W-L-250
valve for the bucket
cylinder
Ab5-20-3-W-L-250
Inlet
Manifold
Assembly
Outlet
Manifold
Sending Unit
Proportional
Plus
On/Off Controller
Tranmitter
Battery
Pack
Junction
Box
Prototype
Production
Testing
2500 man hrs
Remodification

$1750.00
$480.O0
$210.00
$1000.00

1
21

Control

Valves
3

$75O.0O

$25O.OO

A31094-2-250
A31102-1V
130-180
125-104
128-103

$100.00
$101.00
$100.00
1
1
3
1

$I00.00
$200.00
$200.00
$200.00

$45000.00

HAZZARDS

The
The

one

biggest
specified

peratures.

could

in

failure
Another

and

in

three

of

be

the

exceed
material
treated

strength

Physical
is

removed

than

allowed
and
hazzards

from

the

harm

hydraulic

extremely

combined

be

to

in

the

series

The

that.

when

the

high

with

someone

fluid.

its
if

temhigh

there

was

line.

thousand

hours.

is

withstand

extreme

might

temperature
were

to

hydraulic

seven

less

able

hazzard

temperatures

cause

the

aluminum,
a

high

hazzard

thousand
about

is

The

pressure,

would

foreseeable

is

setting
well

in

below
it

this

might

fail

to
backhoe.

the

that

direct

anneal,

materials.
anneal

annealing

clear

to

of

aluminum

beginning
It

limit

area

would

operator

under
do

at

775OF

temperature

the

temperature

sunlight
this

Six

should

775OF.
loose

If
its

not
the

heat

load.
not

exist

since

he

FORESEEABLE

The

main

hydraulic
ready

area

line

been

used

to

cool

been

considered
The

the

specified.

We

cerned

the

The
since

by

methods

fluid

as

problems

have

how

deep

the

hole

is

not

made

the
It

tractor
will

be

from

the

that

there
The

guidance

the

will

only

trench

to
the

to

get

in

the

base

of

the

ten

feet

so

that

would

it.

Then

tractor,
the

pump

existed

and

because
awkward

removed

of
to

from

bucket

provision

for

the

mobility

the

area

forward
for

it

in

to

the

the

correct

solution

when
the

is

the
the

trench
trench

computer
could

to

would

continued

to
is

the

next

been

then
to

be

removed

assuming

his
a

bellypack.
computer

coordinates
has

the

portion.
is

location,

install

cutting.

specified,

which

to

area

tell

of
is

added

con-

operator

work

that

operator,

controls

have

dig

not

the

able

never

it.

the

the

in

was

were

that

move

trench

not

angle

appropriate

that

has

tractor

be

dug

al-

the

not

is

foreseeable

system

preprogramed

any

has

method

will

the

of

The

very

somewhat
He

area

discussed.

arise

be

view.

the

problem

hydraulic

it

would

impossible

tractor,
are

nor

need

almost

be

good

the

will

in

responsibility.

that

that

been
this

to

our

drives

controls

not

When

not

assumed

will

returns

is

simply

will

tractor.

it

it

have

previously

that

operator

have

would

however,

source

and

We

PROBLEMS

transfer;

bellypack

the

failure

since

power

with

of

heat

solved

DESIGN

dug
advance
dug.

already
up

to
it

If

a computer

system,
would

it

should

be ideal

cordinates

is

like

include

to be able

of the

A backhoe

were to be incorporated

trench

like

comparing

being

is

the

removed

to

specify

the

only

not

from the

the

backhoe

operation.

depth

computer

to the

the

of cut
do the

It
and
rest.

one we have designed

to simplicity.

backhoe

way to

backhoe

the

compared

complexity

on a bellypackis

backhoe

actual

and let

this,

In my opinion,
tained

the

into

designed

feasibla,

solve

machine.

the

with

controls

and the
problem

con-

computerized

of the

operator

CONCLUSIONS

The
lunar
environment
introduces
numerous
obstacles
to be
considered
when
designing
a backhoe
or the
moon.
The
lack
of
air,
heat
dissipation_
soil
mechanics,
and
gravitational
field
all
add to the
complexity
of creating
a machine
that
will
efficiently
dig foundation
trenches
for
a lunar
base.
Heat
dissipation
appears
to cause
the greatest
difficulties.
Not
only
does
the heat
fail
to convect
in the
lunar
environment_
but the
electronic
equipment
is not designed
to withstand
temperatures
encountered
on the moon.
The
limited
time
for
the electrical
component's
usage
could
be overcome
by
further
detailed
design
in the
electronic
components
used.
Continuous
operation
of a hydraulic
system
in such
an
environment
is indeed
possible
using
commercially
available
components
as long
as a heat
sink
is available.
The
most
important
considerations
are
preventing
heat
entry
by radiation
and
providing
an adequate
amount
of surface
area
for heat
dissipation
to the
cooling
fluid.
These
areas
are critical
since
the
backhoe
is a dynamic
implement
and must
be designed
such
that
there
is a minimum
of bulk
and weight.
We are
sure
that
further_
more
detailed
analysis
of the problems
will
yield
designs
that
are
much
more
efficient
and effective_
yet we feel
that
our
design
is a credible
first
approximation.
The
control
system
that
was designed
is simple
in form.
The
components
used
were
chosen
for compatibility
and
for simplicity
of the overall
system.
While
closed
loop
feedback
using
load
sensing
transducers
was
not used,
the open
loop
system
we chose
is a workable
one_
with
many
measures
to insure
that
the system
would
not
be overloaded
by the
operator.
The backhoe
can
be
safely
controlled
by an operator
in a space
suit_
but
not
easily.
The
sending
unit
chosen
has rather
small
turn
controls
making
it difficult
to operate
two controls
at once
with
one
hand.
Certain
measures
were
taken
to overcome
this
problem,
and
the
unit
has
been
used
to control
a three
degree-of-freedom
forklift,
but
the operator
will
probably
find
operating
the
backhoe
a little
tedious.
The
mechanical
layout
of the backhoe
is a design
that
will
achieve
the
project
objectives.
The C-section
of the
boom
was
neccesary
to provide
space
for
the radiators
in the
hydraulic
circuit.
Such
a section
will
require
that
the
boom
be internally
braced
to prevent
floppyness.

Recommendations
It is recommended that an alternative
to a backhoe be
considered
for the earth-moving
requirements_
such as using a
"Ditch
Witch".
The "Ditch
Witch" potentially
has several
advantages
over the backhoe:
its rate of soil
removal is greater
than that of the backhoe,
it can collect
loose dust as it
removes the soil
to prevent
a visibility
problem for the
operator,
and it can be programmed to dig a ditch
without
an
operator
being present.
Other specific
recommendations
for each
section
of the backhoe follow
below.
Hydraulic

System

Since
each
side
of the piston
displaces
a different
amount
of fluid
_ the flow
rate
of fluid
to one side
of the cylinder
and
out of the
other
is not the
same.
To balance
the flow
rate
between
sides
of the cylinders,
it is recommended
that
counter-balanced
flow
rate
control
valves
be used
in the
hydraulic
circuit.
Also_
it is suggested
that
the design
of a
pneumatic
backhoe
be considered.
Since
air has
no flash
point_
pneumatic
system
would
ease
the maximum
temperature
constraint
of the working
fluid
in the circuit.

Controls
It is recommended
that
the
controller
be redisigned
to
include
two
joysticks
to allow
for easier
two--hand
operation.
Load
sensing
feedback
control
could
be incorporated
into
the
control
system
to provide
for better
system
protection.
Also_
computer
could
be used
to control
the backhoe
in certain
standard
operations_
such
as in digging
a ditch.
Mechanical

Desiqn

It is recommended
that
an existing
design
be used
for
the
dimensions
of the
boom,
bucket,
and dipstick.
With
such
a
design_
the
kinematic
calculations
have
been
carried
out_
and
the
design
has
already
been
optimized.
With
backhoes
of many
different
specifications
curently
available_
one
should
be able
to choose
a design
that
would
meet
specific
needs.
Given
such
a
design_
more
effort
could
be concentrated
into
the
areas
of heat
transfer
and
material
selection.

C/linJer

t_ore.

Do

/_s_(_e..
Fric.fion
P,*_sar_.
Co-=I,-_.(G_)
T_,"e. =-[O_of_
tl_,,o_, _,,',;,-,-:-.,_,,

HYORAULIE OY1r,IDE

5PEC!F!

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22: _ WINGCYLINDERS
(2)

_V

P_v
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ALTERNATE

Although
The

purpose

standing,
a

lunar

of
it

is

constant

is

is

trencher,
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force

ing

down

and

could

force

is
The

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compared

to

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then

would

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be

the

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two

significance

would

be

limited

easily

be

increased

by

make

be

be

the

the

would

have

wheels

the

to

operate.

in

opposite

digging

forces.

force

the

desired

with

weight.

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is

each

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the

which

used

horizontal

push-

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soil

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as

and

of

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be

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and

the

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to

the

by

feet

to

would

our

heavy,

machine

would

eliminating

to

large,

the

rotating

wheels

now

backhoe

ten

If

inefficient.

digging

simpler

two

almost

holes

time

very

a building
correct,

controls.

composed

of

of

unnecessarily

hard

trenches

it

large

being

digging

reached.
machine

tracks
This

digging

dig

thus

only

into

of

be

The

dug

capable

them.

directions

force

is

is

however,

is

It

since

about

footings

assumption

has

it

ambiguous;

the

this

due

would

functionable,

rather

dig

It

to

is

use.

needed.
depth

machine

teeth

to

to

It

not

was

If

machine

clumsy.

backhoe

it

base.

wrong

are

the

DESIGNS

to

assure

machine
to

the

not
good

would
backhoe

but

rather

bulldozer

traction.

be

much

since

easier
it

to

be

has

such

two

rotars

computer

controlled

simple

design

having

their

com-

paritively.
The

first

controlled

by

depth

of

the

drawing
hydraulic
first

rotar

shows

the

cylinders.
(dl)

is

2d I =

For
half

of

regular
that

trenching,
of

the

height
the

second(dE).

Weekly

Design

Section:

Week

Proqress
Picked

Reports

Rob Schenk
Rick
Wilkins

team

members

Picked
study
topicsoil
mechanics
Picked
design
topic-- Backhoe
Group
meeting
Divided
up study
topic
into
sub-topics:
reports_
abstacts_
govt.
documents.
Group
meeting
Organized
material
Progress
Meeting
Suggeted
a photocopy
information
file.

Progress

for

progress

list

of

in

meeting
soil
mechanics

technical

meeting.
all

material

Group
meeting
topic
is finishedhave
lists
typed
Group
meeting
Gathering
of all
typed
material
for
information
file
progress
turned

books_

for

central

up
fianl

listing

in

material

started
backhoe
design
Brazell
gave
us a starting
point
Split
up into
groupscontrols
hydraulics
design
Vendor
informations
obtainedVermeer
4

meeting
with
Jeff
Kreuger
discussed
kinematic
problems
and
group
meetingRob Schenckmore
Steve-check
out
lunar
atmosphere
Scott
and
Briancontrols
Ricklunar
soil

design
ideas
info
on catepillar

continued
with
kinematic
initial
design
Progress
meeting
discussed
syllabus
for remainder
of quarter
availability
of IBM3erry
Insilia
Word
Processing
for
writing
report
Problem
statement
due 5/2
5

Group
meeting
Discussed
hydraulic
line problems
and
design
Posed
problem
statement
for
review_
discussion_
revision_
etc.
Determined
capacity
and digging
depth
final
form
of statement
to be typed
up Wednesday-Brian
Rob-talk
to Catapillar
representative-get
details
on
interface
for hitch_
hitch
design
initiated.
Controls
info
received

&

Progress
meeting
Turned in problem statement,
revised
digging
forces.
Concentrated
on hydraulic
lines_
shielding
temperature
limits,
etc.
Discussed
purpose of VSMF catalog
Consult
this
for Vendor information
controls
group interface
with hydraulics.
Group meeting
More vendor infoFord
Design is complete,
meet with Brazell
to determine
member sections.
More work on controls
and valves for hydraulic
system.
Consult
VSMF standards
to determine
position
for digging
forces.
Progress meeting
early
meeting with _r. Brazell
Method for determining
section
modulus in backhoe
sections.
Quick disconnect
idea is discussed.
Control
problem discussedflow rates proportional
to
forces
which in turn determines
cylinder
sizes.
Looked at buckling
problems.
Materials
for suitable
use is suggested:
low emmissivity.
low reflectivity
Still

7
8

need

final

details

on

hitch.

Stabilizers
and swing
ranges
and
sizes.
Choose
digging
forces
to initiate
sizing
of system.
Materials
chosen.
Aluminum
6066
T-&
Modified
hitch
to incorporate
labor
intensive
work.
Progress
meeting.
Initial
hitch
design
completemodify
for
swing
cylinders
Dig
Forcestake
individual
cases
to determine
reaction
forces,
don_t
add
interface-choose
design.
design
complete,
finish
sections
Initial
design
has
to be changedbending
moments
didn't
work
out
in boom
member.
Final
changes
made
in hitch
final
drawings
competed.
Backhoe
final
drawings
done.
Force
analysis
complete.
Choose
heat
Change

section
modulus
to
exchanger.
from
original
tube

incorporate
section

cylinders
to

C-section.

and

Weekly Progress
Controls

Week
1

2
3

6
7

Section:

Brian
Scott

Reports

Hatchell
Landers

Proaresq
Had
for

organizational
meeting
to determine
individual
duties
research
assignment:
Hatchell,
technical
reports
Lenders,
government
reports
Searched
microfiche,
journals,
and
government
reports
relevant
to soil
mechanics.
Continued
searching
library
material
for soil
mechanics
literature
relevant
to project.
Wrote
down
findings
to
be compiled
into
class
data
base.
Researched
TomCat
for vendors
involved
in remote
control,
radio
control,
and electro-mechanical
hydraulic
valves.
Considered
alternative
designs
to relieve
the operator's
inherent
vision
problem.
Decided
that
radio
control
was
the
safest
solution
to the problem.
Worked
on problem
statement,
and researched
Tomcat
for
additional
vendors
that
might
be needed.
Wrote
letters
to 15 prospective
venders
and
called
3
others
in the
areas
of hydraulic
valves
and radio
control.
Wrote
up problem
statement,
typing.
Called
up Moog
for servo
valves.
Researched
library
for textbooks
that
could
help
in
setting
up the control
system.
Selected
5 books
that
were
moderately
helpful.
Read
these
books
and
learned
about
the
specific
kinds
of valves
that
would
be needed
to complete
the system.
Learned
about
overall
hydraulic
system.
Group
meeting.
Looked
over
the vendor
information
that
we received
and determined
that
we probably
had
information
on all
the components
that
we wouZd
nemd_
except
for
a radio
receiver
and
a transmitter.
Called
up the
Moog
representative
for
the Atlanta
area
and
he said
that
Moog
had a radio
receiver
and
transmitter
that
would
provide
the
proportional
control
of servo-valves
that
we would
require.
He agreed
to send
us the
information
that
we would
need
to set
the system
up.
Given
the
hydraulic
information
from
Rick
and
Steve,
we were
able
to determine
the valves
that
would
be
required.
Luckily,
we had
a stackable
control
valve
that
could
be easily
set
up on the backhoe.
The
sizes
and accessories
that
would
be needed
were
determined.
Considered
cross-port
verus
regular
relief
valves
and
decided
that
the
regular
relief
valve
was
the best
for
our
application.
Went
out to the
Ford
tractor
place
and
looked
at a

backhoe
Because

similar
to the backhoe
the Moog representative

information
office.
We

that
talked

we asked
or_
with
him
for

that

we were dssigning.

failed
to mail
we drove
out to
about
45 minutes

us the
his
about

system
that
we Nere
designing.
He suggested
several
alternatives
including
position
and load
feedback
control.
These
measures
would
require
additional
electronic
hardwarep
and we decided
that
using
relief
valves
and pressure
controlling
valves
would
be a
simpler,
but
still
adequate
solution.
Completed
the overall
design
of the control
system.
Worked
on typing
up the report.

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