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Mcmurray, Gary V.

Publications and source records attributed to Mcmurray, Gary V..

2 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Mobile work platform for initial lunar base construction

Described is a system of equipment intended for site preparation and construction of a lunar base. The proximate era of lunar exploration and the initial phase of outpost habitation are addressed. Drilling, leveling, trenching, and cargo handling are within the scope of the system's capabilities. The centerpiece is a three-legged mobile work platform, named SKITTER. Using standard interfaces, the system is modular in nature and analogous to the farmer's tractor and implement set. Conceptually somewhat different from their Earthbound counterparts, the implements are designed to take advantage of the lunar environment as well as the capabilities of the work platform. The proposed system is mechanically simple and weight efficient.

Brazell, James W.↗
NASA NTRS1988

Three legged walking mobile platform: Kinematic and dynamic analysis and simulation

The three legged walker is proposed as a mobile work platform for numerous tasks associated with lunar base site preparation and construction. It is seen as one of several forms of surface transportation, each of which will be best suited for its respective tasks. Utilizing the principle of dynamic stability and taking advantage of the Moon's gravity, it appears to be capable of walking in any radial direction and rotating about a point. Typical curved path walking could involve some combination of the radial and rotational movements. Comprised mainly of a body, six actuators, and six moving parts, it is mechanically quite simple. Each leg connects to the body at a hip joint and has a femur, a knee joint, and a tibia that terminates at a foot. Also capable of enabling or enhancing the dexterity of a series of implements, the walker concept provides a mechanically simple and weight efficient means of drilling, digging, mining, and transporting cargo, and performing other like tasks. A proof of principle machine demonstrated the feasibility of the walking concept.

Mcmurray, Gary V.↗