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NATIONAL AERONAUTICS AND SPACE ADMINISTRATION

LRV OPERATIONS
HANDBOOK
APPENDIX A
(PERFORMANCE DATA)

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 LSOO6-OO2-2H

LUNAR ROVING VEHICLE

OPERATIONS HANDBOOK
CONTRACT NAS8-25145

APPROVED:

PREPARED BY THE BOEING COMPANY

LRV SYSTEMS ENGINEERING
HUNTSVILLE, ALABAMA
 PREFACE

This document is the first revision issue of the Appendix A

(Performance Data) to the LRV Operations Handbook. This appendix
will be maintsined on a controlled bssis by the Systems Engineering
Division of the Apollo Spacecraft Program Office, with change pages
issued as required.

It is requested that any comments to the data content, require-

ments for additional data, and distribution changes be sent to PD4/
Mr. J. W. Mistrot, extension 4667.
 REVISIONS
il i
I

REV AMEND DES(_IPTION DATE

LTR NO.
 LSOO6-OO2-2H
LUNAR ROVINGVEHICLE
OPERATIONSHANDBOOK
APPENDIX A

TABLE OF CONTENTS

SECTION PAGE

1.0 INTRODUCTION A-I

I.I PURPOSE A-I
1.2 CONTENT A-I
1.3 AMENDMENTS A-I
1.4 SELECTED ABBREVIATIONS AND ACRONYMS A-I

2.0 CONFIGURATION A-2

2.1 CHASSIS CONFIGURATION A-2
2.2 SUSPENSIONSYSTEM CONFIGURATION A-2
2,3 STEERING SYSTEM CONFIGURATION A-2
2.4 TRACTION DRIVE CONFIGURATION A-2
2.5 WHEEL CONFIGURATION A-2
2.6 CREWSTATION CONFIGURATION A-2
2.7 POWERSYSTEM CONFIGURATION A-3
2.8 NAVIGATION SYSTEM CONFIGURATION A-3
2.9 THERMAL CONTROLCONFIGURATION A-3
2.10 PAYLOAD INTERFACES A-3

3.0 CONSTRAINTS AND OPERATIONAL LIMITATIONS A-23

3.1 CHASSIS SUBSYSTEM CONSTRAINTS A-23
3.2 SUSPENSION SUBSYSTEM CONSTRAINTS A-23
3.3 MOBILITY SUBSYSTEM CONSTRAINTS A-23
3.4 ELECTRICAL POWER SUBSYSTEM CONSTRAINTS A-23
3.5 NAVIGATION SUBSYSTEM CONSTRAINTS A-25
3.6 DISPLAY AND CONTROLS SUBSYSTEM CONSTRAINTS A-25
3.7 CREW STATION SUBSYSTEM CONSTRAINTS A-26
3.8 VEHICLE DYNAMIC OPERATION CONSTRAINTS A-26
3.9 PARKING CONSTRAINTS A-26
3.10 THERMAL CONSTRAINTS A-26

4.0 SUBSYSTEMPERFORMANCE DATA A-46

4.1 MOBILITY SUBSYSTEMPERFORMANCE A-46
4.2 ELECTRICAL SUBSYSTEMPERFORMANCE A-59
4.3 NAVIGATION SUBSYSTEMPERFORMANCE A-67
4.4 DISPLAYS AND CONTROLSSUBSYSTEMPERFORMANCE A-75

5.0 VEHICLE PERFORMANCE DATA A-79

5.1 VEHICLE DYNAMIC RESPONSE A-79
5.2 RANGE, SPEED, LURAIN CAPABILITY A-82
5.3 THERMAL PERFORMANCE A-83
5.4 CONTROLLABILITY A-83

b.O SPECIFIC VEHICLE DATA A-93

6.1 LRV-I A-93

2/5/71 Cnange Date 4119/71

Mission Basic Date
 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

LIST OF FIGURES

FIGURE NO. PAGE

2-I LRV CONFIGURATION WITHOUT STOWED PAYLOAD A-4

2-2 LRV DIMENSIONS A-5
2-3 LRV CHASSIS A-6
2-4 LRV SUSPENSION SYSTEM A-7
2-5 LRV STEERING SYSTEM A-8
2-6 LRV TRACTION DRIVE A-9
2-7 LRV WHEEL A-IO
2-8 LRV WHEEL DEFLECTION VS LOAD A-I 1
2-9 LRV DRIVE CONTROL A-12
2-10 LRV CREW STATION COMPONENTS A-14
2-11 LRV BATTERY AND DUST COVER ASSEMBLY A-16
2-12 LRV NAVIGATION COr_PONENTS A-17
2-13 LRV THE_IAL CONTROL A-18
2-14 PAYLOAD INTERFACES A-19
3-I CREW STATION LIMIT LOADS (HANDHOLDS & TOEHOLDS) A-27
3-2 CREW STATION LIMIT LOADS (SEATS & FOOTRESTS) A-28
3-3 GROSS WEIGHT ALLOWABLE C.G. ENVELOPE A-29
3-4 VEHICLE STATIC STABILITY A-31
3-5 LATERAL LIMIT VELOCITY FOR OVERTURNING FROM A-32
COLLISION WITH IMMOVABLE OBJECT
3-6 LRV SLIDING LIMIT VELOCITY AS A FUNCTION OF A-33
TURNING RADIUS AND SLOPE ANGLE FOR A 0.8
COEFFICIENT OF FRICTION
3-7 LRV SLIDING LIMIT VELOCITY AS A FUNCTION OF A-34
TURNING RADIUS AND SLOPE ANGLE FOR A 0.6
COEFFICIENT OF FRICTION
LRV OVERTURNING LIMIT VELOCITY AS A FUNCTION OF A-35
TURNING RADIUS AND SLOPE ANGLE
MAXIMUM BUMP HEIGHTS WHICH CAN BE ENCOUNTERED A-36
WITHOUT CAUSING OVERTURN AS A FUNCTION OF
VELOCITY AND SLOPE
3-I0 TURNING RADIUS REQUIRED FOR LOCATING C.G, OUTSIDE A-37
NORMAL POSITION FOR PREVENTION OF OVERTURN ON
0 ° SLOPE
3-11 TURNING RADIUS REQUIRED FOR LOCATING C.G. OUTSIDE A-38
NORMAL POSITION FOR PREVENTION OF OVERTURN ON
I0 o SLOPE
3-12 TURNING RADIUS REQUIRED FOR LOCATING C.G. OUTSIDE A-39
NORMAL POSITION FOR PREVENTION OF OVERTURN ON
20 ° SLOPE
3-13 TURNING RADIUS REQUIEED FOR LOCATING C.G. ABOVE A-40
NORMAL POSITION FOR PREVENTION OF OVERTURN ON
0 ° SLOPE

M_sl0n J Basic D_te 2/5/71 Change Date 4/19/71 ?uge oAii

 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

LIST OF FIGURES
(Continued)

FIGURE NO. PAGE

3-14 TURNING RADIUS REQUIRED FOR LOCATING C.G. ABOVE A-41

NORMAL POSITION FOR PREVENTION OF OVERTURN ON
I0 ° SLOPE
3-15 TURNING RADIUS REQUIRED FOR LOCATING C.G. ABOVE A-42
NORMAL POSITION FOR PREVENTION OF OVERTURN ON
20 ° SLOPE
3-16 SAFE DRIVING CORRIDOR IN CASE_OF STEERING FAILURE A-43
AS A FUNCTION OF VELOCITY, SLOPE, AND STEERING
APPLICATION
3-17 FARKING ORIENTATION CONSTRAINTS A-4_
4-I VEHICLE POWER CONSt:MPTION V% SPEED - 0 ° SLOPE A-47
4-2 VEHICLE POWER CONSUMPTION VS SPEEb - 5 ° SLOPE A--4E
4..3 VEHICLE POWER CONSUMPTION VS SPEED -. lO ° SLOPE A-4t'
4-4 LRV TRACTION DRIVE PERFORMANCE (DC MOTOR-HARMONIC A-50
DRIVE-DRIVE CONTROLLER) FULL VOLTAGE (36 V)
PERFORMANCE
4-5 BATTERY CURRENT VS SPEED A-51
4-6 TR#.CTION DRIVE-RATE (IF TEMPERATURE INCREASE VS A-52
SOLAR ELEW_.TION ANGLE (FRONT WHEEL)
4-7 TP,
ACTION DRIVE-RATE OF TEMPERATURE INCREASE VS A-53
ZENITH ANC_LE (LEFT FRONT WHEEL)
4-8 TRACTION DRIVE-RATE OF TEMPERATURE INCREASE VS A-5_
ZFNITH ANGLE (LEFT REAR WHEEL)
4-9 TRACTION DRIVE-RATE OF TEMPEP.ATURE INCREASE VS A-55
7ENITH ANGLE (RIGHT FRONT WHEEL)
4-10 TRACTION DRIVE-RATE OF TEMPERATURE INCREASE VS A-5G
ZENITH ANGLE (RIGHT RLAR WHEEL)
4-11 TRACTION DRIVE-RATE OF TEMPERATURE INCREASE VS A-57
SPEED (FRONT WHEEL)
4-12 TRACTION DRIVE-RATE OF TEMPERATURE INCREASE VS A-58
SLOPL (FRONT WHEEL)
4-13 VOLTAGE VS CURRENT DRAW PER BATTERY A.-6_I
4-14 BATTERY VOLTAGE VS STATE OF CHARGE A-61
4-15 [_ATTERY RATE or- TEMrERATURE INCREASE WITF CURRENT A-62
DRAIN (RIGHT BATTERY; i.e., BAITERY #2)
4-16 B#TTERY RAIE OF TEMPERATURE INCREASE WIT_ CURI)ENT A-63
DRAIN (LEFT BATTERY; i.e., BATTERY #l)
4-17 BATTERY RAIE OF TEf.;PFRATURE CHANGE (DIJST COVERS A-6._
OPEN, LEFT BATTERY; i.e., BAITERY #1)

Mission J Basic Date 2/5/71 Change Date 4/19/71 ?uge #,i_.,ii

 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

LIST OF FIGURES
(Continued)

FIGURE NO. PAGE

4-18 BATTERY RATE OF TEMPERATURE CHANGE (DUST COVERS A-65

OPEN, RIGHT BATTERY; I.E., BATTERY #2)
4-19 DISTRIBUTION LOSSES A-66
4-2O DGU POWER CONSUMPTION A-68
4-21 DGU DRIFT RATE VS TEMPERATURE A-69
4-22 NAVIGATION BEARING ERROR AS A FUNCTION OF DGU DRIFT A-70
4-23 SSD AZIMUTH CORRECTION FOR VEHICLE ROLL A-71
4-24 CORRECTED SSD ANGLE FOR VEHICLE PITCH - SUN ANGLE lO° A-72
4-25 CORRECTED SSD ANGLE FOR VEHICLE PITCH - SUN ANGLE 25° A-73
4-26 CORRECTED SSD ANGLE FOR VEHICLE PITCH - SUN ANGLE 40° A-74
4-27 TORQUE REQUIRED TO ROTATE HAND CONTROLLER FOR A-76
THROTTLE CONTROL
4-28 TORQUE REQUIRED TO ROTATE HAND CONTROLLER FOR A-77
STEERING CONTROL
4-29 BRAKE CONTROL FORCE VS DISPLACEMENT A-78
5-I VERTICAL ACCELERATION AT LRV SEATS AS A FUNCTION OF A-80
VELOCITY AND LURAIN TYPE
5-2 LRV DAMPING POWER LOSSES A-85
5-3 EFFECT OF SPEED ON LRV RANGE A-86
5-4 EFFECT OF WEIGHT CHANGE ON RANGE FOR FOUR LURAIN TYPES A-87
5-5 EFFECT OF WEIGHT CHANGE ON MAXIMUM VELOCITY FOR FOUR A-88
LURAIN TYPES
5-6 SLOPE CLIMBING CAPABILITY FOR VARYING C.G. LOCATION A-89
5-7 STOPPING DISTANCE VS SPEED A-90
5-8 POWER SPECTRAL DENSITY FOR LUNAR SURFACE ROUGHNESS A-gl
5-9 EFFECT OF WEIGHT CHANGE ON CONTROLLABILITY FOR FOUR A-92
LURAIN TYPES
6-I TRACTION DRIVE CHARACTERISTICS FOR LF .DRIVE UNIT A-94
6-2 TRACTION DRIVE CHARACTERISTICS FOR RF DRIVE UNIT A-95
6-3 TRACTION DRIVE CHARACTERISTICS FOR LR DRIVE UNIT A-96
6-4 TRACTION DRIVE CHARACTERISTICS FOR RR DRIVE UNIT A-97
6-5 METER CALIBRATION - MOTOR TEMPERATURE A-102
6-6 METER CALIBRATION - BATTERY TEMPERATURE A-103
6-7 GYRO DRIFT RATE, LRV-I METER CALIBRATION - AMP HOUR A-104
6-8 METER CALIBRATION - VOLTS/AMPS A-105

Mission J Basic Date 215171 Cnange Date 4/19/71 Puge __Aiv

 LSOO6-OO2-2H
LUNARROVING
VEHICLE
OPERATIONS
HANDBOOK
APPENDIX
A

LIST OFTABLES
TABLENO. PAGE

3-I PAYLOAD
LIMITATIONS A-24

3-11 COMPONENT
TEMPERATURE
LIMITS A-30

3-111 SPEED
RESTRICTIONS
TOPREVENT
EXCEEDING
STRUCTURAL A-44
DESIGN
LOADS
5-I VIBRATION
ENVIRONMENT
AT LRVPAYLOAD
INTERFACES A-81

5-11 LRVSTEADY
STATEPOWER
CONSUMPTION A-82

5-Ill LRVSPEED
CAPABILITY A-83

5-1V LRVCONTROLLABILITY
SPEEDLIMITS A-84

6-I LRV-I NAVIGATION

SYSTEM
POWER
CONSUMPTION A-98

6-II LRV-I WEIGHT,

C.G. ANDMOMENTS
OFINERTIA A-99

6-III LRV-I LUNAR

OPERJ_TIONAL
WEIGHT
DISTRIBUTION
- A-lO0
STATIC,LEVELLURAIN
CONDITION
6-IV SUMMARY
OFLRV-I MOBILITY
PARAMETERS A-lOl

Mission J Basic Date 215171 Change Date 4119/71 Page Av

 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONSHANDBOOK
APPENDIX A

1.0 INTRODUCTION

I.I PURPOSE

This document is intended to supply LRV performance data necessary for mission
planning and flight control personnel to adequately plan and control operation
of the LRV on the lunar surface. The data contained herein is to be used in
conjunction with the LRV Operations Handbook which contains crew operating
procedures, timelines and system description.

1.2 CONTENT

This Appendix A contains data on LRV configuration and defines constraints and
operation_limitations of the various vehicle subsystems. In addition subsystems
performance data are provided as well as overall vehicle performance data. The
final section of the Appendix contains data defining constraints and performance
data unique to each individual LRV.

1.3 AMENDMENTS

Amendments to data contained in the appendix will be issued as additional data

becomes available from LRV test programs and/or as more refined data becomes
available from updated analyses. When such amendments are issued, they will
be approved and signed by the MSFC LRV Program Manager. MSFC will then trans-
mit one printing master of each amendment to MSC. Reproduction and control
of amendment distribution at MSC will be accomplished by MSC.

1.4 SELEClED ABBREVIATIONS AND ACRONYMS

The following abbreviations and acronyms are used throughout this docun_nt:

DCE - Drive Controller Electronics

DGU - Directional Gyro Unit
GCTA - Ground Controlled Television Assembly
IPI - Integrated Position Indicator
KPII - Kilometers per Hour
LCRU - Lunar Communications Rela_yUnit
LRV - Lunar Roving Vehicle
NSS - Navigation Subsystem
PSD - Power Spectral Density
PWM - Pulse Width Modulator
SPU - Signal Processipg Llnit
TBD - To be Determined

Mission J Basic Date 2/5/71 Cnange Date 4/19/71 Puge mA-I

 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONSHANDBOOK
APPENDIX A

2.0 CONFIGURATION

The illustrations included in this section describe the configuration of the

Lunar Roving Vehicle, details and locations of major vehicle subsystems, and
important dimensions of the vehicle elements. Figure 2-I describes the basic
LRV configuration and identifies and locates the principal LRV subsystems.
Stowed payload is not shown installed on the vehicle but payload mountin!_
interfaces are identified. Important LRV overall di_nsions are shown on
Figure 2-2.

2.1 CHASSIS CONFIGURATION

The configuration details and principal dimensions of the LRV chassis are
shown on Figure 2-3. The floor panels are shown removed to provide detalls
on the primary and secondary structural members.

2.2 SUSPENSION SYSTEM CONFIGURATION

Major components of the LRV Suspension System are shown and identified on
Figure 2-4. The torsion bars serve to unfold the wheels during the deployment
operations and to provide both contour following and chassis resiliency during
operation on the lurain.

2.3 STEERING SYSTEM CONFIGURATION

Major components of the LRV Steering System are shown and identified on
Figure 2-5. Only one decoupling ring is provided for each steering system,
fore and aft. The aft decoupling ring is located on the right side of the
vehicle; the front decoupling ring is located on the left side of the vehicle.

2.4 TRACTION DRIVE CONFIGURATION

Internal configuration of the LRV Traction Drive is shown on Figure 2-6.

2.5 LRV WHEEL CONFIGURATION

The LRV Wheel construction details and critical dimensions are shown on Figure
2-7. The decoupling devices are actuated to provide free-wheeling capability
in the event of drive seizure. Wheel deflection characteristics are shown in
Figure 2-8.
2.6 LRV CREW STATION CONFIGURATION

The major components comprising the LRV Crew Station are identified and loca-
ted on Figure2-1OA. The layout and dimensional characteristics of the control
and display console portion of the Crew Station are shown on Figure2-1OB.

J Basic Date 2/5/71 Cnange Date 4/19/71 Puge _A-2

Mission
 LSOO6-OO2-2H
LUNARROVING
VEHICLE
OPERATIONS
HANDBOOK
APPENDIX
A

2.7 LRVPOWER
SYSTEM
CONFIGURATION
The configuration of the typical LRVBattery and Dust CoverAssemblyis
defined in Figure 2-11. Battery dimensionsare provided on this figure.
2.8 LRVNAVIGATION
SYSTEM
CONFIGURATION
The components comprising the LRVNavigation Systemare identified and located
on Figure 2-12. Control and Display Consolemounteditems included in the
Navigation Systemare shownon Figure 2-10B.
2.9 LRVTHERMAL
CONTROL
CONFIGURATION
The major components Of the LRVThermalControl Systemare identified and
located on Figure 2-13. The dust covers are raised to permit radiation of
heat from the spaceradiators.
2.10 LRVPAYLOAD
INTERFACES
The PayloadInterfaces with the LRVare shownon Figures 2-14A, 2-14B, 2-14C,
and2-14D. Portions of the interface connectorswhich are not part of the
basic LRVsystembut which are permanentlyinstalled on the LRVare identified
on these figures.

4119/71
Mission J Basic Date 2/5/71 Cnange Date
 LSOO6-OO2-2H

LUNAR ROVING VEHICLE

OPERATIONS HANDBOOK
APPENDIX A

®
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.gIISPLN$ TON _,YS TLM
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FIGURE 2-I LRV CONFIGURATION WITHOUT STOWED PAYLOAD

Mission J Basic Date 2/5/71 Cnanqe Date 4/19/71 Page _A-4

 LSOO6-002_2H

LUNAR ROVING VEHICLE

OPERATIONS HANDBOOK
APPENDIX A

Z
0

i,i

CZ_

i,i

_9

Mlsslon J Gasic Date 2/5/71 Cnanqe Date 4/19/71

 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

c_

c_

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t i,i

Mission J Basic Date 2/5/71 Change Date 4/19/71 Puge A-6

 LSOO6-OO2-2H

LUNAR ROVING VEHICLE

OPERATIONS HANDBOOK
APPENDIX A

L_J
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(_-

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r_

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2/5/71 4119171
Mibsl0n Basic Date Cnange Date
 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

__. MOTOR

SECTOR l _ _FEEDBACK POT

1
I L___- _ '
,.______,_._1
L "

\ ,_ I_, "__ r _-TIE ROD ARM

/ f _,_ _ ___ _\ CONNECTION

\ /

REAR STEERING

RING

DECOUPLING RING

FIGURE 2-5 LRV STEERING SYSTEM

Mission J Basic Date 2/5/71 Cnange Date 4/19/71 i>_ge A-8

 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

DECOUPLING MECI
BEARING

VE MOTOR
CIRCULAR SPLINE
__ ,,,,,..@'_--_I
_ __.y]r l.

HARMONIC
.I
1

WAVE GENERATOR
f
FLEXIBLE SPLINE

SUSPENSION SYSTEM
ATTACH FITTINGS
WHEEL

BRAKE
AS

WHEEL HUB

FIGURE 2-6 LRV TRACTION DRIVE

A-9
Mission J Basic Date 2/5/71 Change Date 4/19/71 ,P_ge
 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

WHEEL DECOUPLING
DEVICES

INNER
--TREAD FRAME
(BUMP STOP)

32.19 DIA.
r OUTER

VIEW A-A

TIRE OUTER
FRAME

FIGURE 2-7 LRV WHEEL

Mission J Basic Date 2/5/71 Change Date 4/Ig/7l Puge __A'lO

 LSOO6-OO2-2H
LUNARI_OVING
VEHICLE
OPERATIONS
HANDBOOK
APPENDIXA

DESIGN
LIMI' LOAD
600

400 Z

i--i

RADIAL l"-

WHEEL ,.J

LOAD l.a.

(LBS)
200 Z
H

Z mm
135

63

l ].75 2 3 3.25 4 4.15

RADIAL DEFLECTION
(INCHES)

FIGURE 2-8 LRV WHEEL DEFLECTION VS LOAD

A-11
 LSOO6-OO2-2H

LUNAR ROVING VEHICLE

OPERATIONS HANDBOOK
APPENDIX A

y __,._ PITC,
H PIVOT

_" STEI_R

a .625 14" VERTICAL

POINT
ioo

iii '-- -- FORWARI

__NEUIRA L

I"I \L_ -"=,=

FIGURE 2-9A LRV DRIVE CONTROL - HAND CONTROLLER

Mission J Basic Date 2/5/71 Change Date 4/19/71 7_ge A.__12

 LSOO6-OO2-2H

LUNAR ROVING VEHICLE

OPERATIONS HANDBOOK
APPENDIX A

k_

k_

r_
W

Z
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e_

Z
0

r_

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A-13
X_,_s_un J Basic D_te 2/5/71 Cnanqe Date 4/19/71 _,,g_.
 LSOO6-OO2-2H

LUNAR ROVING VEHICLE

OPERATIONS HANDBOOK
APPENDIX A

DISPLAY AND CONTROL CONSOLE

ARM REST
BLSS ATTACHMENT STRAP

DEPLOYABLE
SECTION
VELCRO FOR PLSS
LATERAL RESTRAINT
FOOTREST (2 PL)
(2 PL)
EPLOYABLE SEAT
ASSEMBLY
SECTION
(2 PL)
FENDERS
(4 PL)

PLSS VERTICAL
SUPPORT (2 PL)

OUTBOARD HANDHOLD
(2 PL)

INBOARD HANDHOLD
(2 PL}

TOEHOLD ,
(2 PL)

SEAT BELT (2PL)

FIGURE 2-10A LRV CREW STATION COMPONENTS

i_,g=. A-14
,v,i
:; _:r J l.:÷s
i_ n.,r. 2/5/71 c_.n,. "l,_t,. 4/19/71
 LSOO6-002-2FI
LUNAR ROVING VEHICLE
OPERATIONSHANDBOOK
APPENDIX A

r '_ . -I
CAUTION/WARMING LATCH--% • I J
(DISCARDEDAFTER LRV f \ _. 6" • ;-_'_ 2" --_
DEPLOYMENT)/'_,_1 1_ _. ._.] l
[ __-- -- --" -1 ALARM I

m//Atuu¢ AnuAI-n,vn--'ll l_4"(/If |/, ,', /, // // // _'T r-_--r /I // ¢'_ ,_IA,,_- ........ ;
II - -t' It--_/'// • i- ,I, , - II I/ i/ /r- _(ALARM ]
' / / // / I O...I t...._ I I1 I
II _ '_ - J v, ,, // .,, ,, -7,-T:,-,-,7 ,,- ,,- ', ///'. . • POSITION)
/ tr "_ "_-- " __ ',.', ,, ,i ,, ,, ,,it, - :-7[-

PLILL TO DAMP
7 /ITI HEADING _----_'-"_ _ SP|IO NAY

l_°l ' ,,I-_ mmi- I@/ o.o ...,.

SUN SHADOWDEVICE-- / " I I ....

(STOWED POSITION) / POWen J POWER / TEMPEekTURI MONITOII
/ t,. i ir W-Nil-if" _tl "l IIUICT • I_ttllt'tl" liOtOe • --
/ UP _ I i zl _ z =ovomve.,a,° q, a L "1' •
INTEGRATED J - _"_._ J '_" "'0 r
r
'
---
" J : , , _ -win- ,d_
POSITION
INDICATOR r _ J ' '-: _ ' ,-A. 1,._ _,._.
(IPl) l _"'I "! """ " .:_.. ',,,- --
..,, j .4:. ,o. ,.,,,,_ .,,. .=o. ,,LK, n

_' """ ' _ "'" " I _D_''-''

(_ =c J ST,,.,.o o.,v..ow.. :_.,,,, .-..,..
I

oo
. ,.,-@ @-0 0 0 (B-_ @-0,
'=i "" • ,.,o m.,

FIGURE 2-9A LRV CREW STATION COMPONENTS - CONTROL AND DISPLAY CONSOLE

Mission J Basic Date 2/5/71 Cnanqe Date 4/19/71 ._.gu__A-15

 LSOO6-002-2H

LUNAR ROVING VEHICLE

OPERATIONS HANDBOOK
APPENDIX A

m
..=

i m
m

I0._"
_I

SCREW

FIGURE 2-11 LRV BATTERY AND DUST COVER ASSEMBLY

Mission J Basic Date 2/5/71 Change Date 4/19/71 Puge mA-16

 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

SPEED
METER

SUN -'--I INTEGRATED

SHADOW POSITION
DEVICE INDICATOR
ATTITUDE
INDICATOR

DIRECTIONAL--- 1

GYRO UNIT /
-ODOMETER

(ALL 4 WHEELSI

SIGNAL
PROCESSING
UNIT

FIGURE 2-12 LRV NAVIGATION COMPONENTS

4/19/71 _,,g_ A...-I7

Mission _R_;,.'c __,:t-_ 2/5/71 ,.-_an_.,_ nat_
 LSOO6-OO2-2H
LUNARROVINGVEHICLE
OPERATIONS
IIANDBOOK
APPENDIXA

DUST COVER BATTERY NO. 1

DRIVE
CONTROL
ELECTRONICS
ANDTHERMAL
CONTROL
UNIT
SPACE RADIATOR

GYRO
(DGU)

BATTERY NO. 1
FUSIBLE MASS & THERMAL STRAP
INSULATION BLANKEI
15 LAYERS OF SIGNAL PROCESSING UNIT
ALUMINIZED MYLAR (SPU) (DUST COVER NOT SHOWN)
AND NYLON NETTING BATTERY NO, 2
WITH BETA CLOTH
DUST COVER,BATTERY NO. 2
EXTERNAL SURFACES
GYRO THERMAL STRAP

FIGURE 2-13 LRV THERMAL CONTROL

Mission J Basic D_te 2/5/71 Cnanqe Date 4/19/71 _ogu A-I_

 LSOO6-OO2-2H
LUNARROVING
VEHICLE
OPERATIONS
HANDBOOK
APPENDIX
A

HI GAIN"S" BAND
ANTENNA

COLOR
TVCAMERA

/
/
/
j /
CONNECTION
TO THE LOW-GAIN

ANTENNA -----.D_ \\
•_OR_AR _ .j
RECEPTACLE /
•
(TYPICAL FOR HIGH GAIN /
ANTENNA AND TV CAMERA) _

FIGURE 2-14A PAYLOAD INTERFACE-LCRU, HIGH GAIN ANTENNA, TV CAMERA INTERFACES

M_slon J Basic Date 2/5/71 Change Date 4/19/7] ?_ge __A-19

 LSOO6-002-2H

LUNAR ROVING VEHICLE

OPERATIONS HANDBOOK
APPENDIX A

LCRU OR GCTA CONNECTOR

(DISCONNECTED FROM DUMMYCONNECTOR/
DUST CAP BEFORE INSTALLING LCRU)

DUMMYCONNECTOR/DUST CAP
(REMOVED AND DISCARDED
BEFORE INSTALLING HIGII
GAIN ANTENNA OR GCTA)

HIGH GAIN ANTENNA

AND GCTA ADAPTER LRV FWD CHASSIS
INSERT (REMAINS ON
LRV AT ALL TIMES)

--_GCTA POWER CONNECTOR

DETAIL A
(TYPICAL 2 P'LACES)

LRV AUXILIARY CONNECTOR/

LCRU CABLE POWER CONNECTOR

CABLE TIE-DOWN STRAPS

,.'_
Y (SEE DETAIL A)
!

LCRU CONNECTOR

LCRU/TVlLRV
CABLE
FIGURE 2-14B PAYLOAD INTERFACE ° LCRU/TV/LRV CABLE STOWAGE
A-20
Mission J Gasic D_te 2/5/71 Cnan_e Date 4/19f71 ',,ge
 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

16 MM DATA ACQUISITION
CAMERA

LOW
ANTENNA

TO ROTATE AZIMUTH SETTING,

GRASP HANDLE, PUSH DOWN
TO UNLOCK, TURN TO DESIRED
SETTING AND RELEASE. STAFF
LOCKS IN LAST POSITION.

PUSH BUTTON TO
RELEASE AND/OR
REMOVE STAFF
FROM HANDHOLD

LRV INBOARD
HANDHOLD

FIGURE 2-14C PAYLOAD INTLRFACE - LOW GAIN ANTENNA AND

16 MM DAC INTERFACE

Ml_slon Basic Date 2/5/71 Change Date 4/19/71 Puge A-21

 LSOO6-OO2-2H
LUNARROVING
VEHICLE
OPERATIONS
HANDBOOK
APPENDIX
A

.
LLETSUPPORT
POST(STOWED.)

R. H. ADAPTER

REAR CHASSIS
i

POST TIEDOWN TAB

FIGURE 2-14D PAYLOAD INTERFACE - LRV REAR PAYLOAD PALLET ADAPTERS

Mission J Basic Date 2/5/71 Change Date 4/19/71 :_ge A-22

 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPEr_DIX A

3.0 CONSTRAINTS AND OPERATIONAL LIMITATIONS

The LRV must be operated in such a manner as not to exceed the constraints and oper-
ational limitations of the following subsystems:

3.1 CHASSIS SUBSYSTEM CONSTRAINTS

The constraints which apply to the chassis are concerned with loads imparted to the
various chassis members. In order to control these loads, limitations are imposed
on location of stowed payload items. To preserve the factor of safety of 1.5 the
LRV shall be loaded such that the loads in the chassis payload zones do not exceed
the maximum loads shown in Table 3-I. Overloading the vehicle beyond the total
970 Ib. limit will also result in performance degradation as shown in Section 5.

The chassis frame is constructed of thin wall aluminum rectangular tubes which are
scalloped in certain areas for weight saving. These thin wall areas are subject
to damage from high-impact loads beyond the designed-for conditions. Therefore,
the chassis should not be subjected to such use as supporting rock samples for
breaking apart the rocks with geologic tools wherein the geologic tools could strike
the chassis.

3.2 SUSPENSION SUBSYSTEM CONSTRAINTS

The suspension system is designed for a factor of safety of 1.5 based on a maximum
gross weight LRV of 1500 lb. with the C.G. of the gross weight falling such that
not more than 55% of the total weight is supported by the front or rear wheels.
The factor of safety will be reduced if the LRV is loaded in such a manner that
these limits are exceeded.

Suspension system thermal constraints are defined in paragraph 3.10.

3.3 MOBILITY SUBSYSTEM CONSTRAINTS

The only constraints concerned with the wheels, traction drives, steering and hand
controller are limitations caused by component capability discussed in Section 4
and by thermal limitations discussed in paragraph 3.10.

3.4 ELECTRICAL POWER SUBSYSTEM CONSTRAINTS

3.4.1 Batteries

The power subsystem is designed to use both batteries simultaneously on an approxi-

mate-equal load basis, i.e. one front and one rear traction drive should be operated
from one battery and the other front and other rear traction drives operated from the
other battery. Likewise the front steering motor should be operated from one
battery and the rear steering motor from the other battery. Only in a contingency
mode should all loads be transferred to one battery, since battery heat rise increases
with increase in battery current. This consideration is discussed in 4.2.

Mission J Basic Date 215/71 Change Date 4/19/711 • P_ge __A-23

 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

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Basic Date 2/5/71 Cnange Date 4/19/71 P-,ge
Missi0n
 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

3.0 Continued

3.4.2 Switches and Circuit Breakers

To provide maximum crew safety ir event of undetected failure of drive logic

components, the following restrictions should be adhered to in sequential
selection of switch positions:

a. The two STEERING and four DRIVE POWER switches should be in the OFF position when
changing position of the +I5VDC switch.

b. The +I5VDC PRIM or +15¥DC SEC circuit breaker should be closed and the + 15VDC
switc-h in PRIM or SE-C position, respectively, before operating the two STEERING
and four DRIVE POWER switches.

Proper order for selection of all circuit breakers and switches is given in Section
2 of the basic LRV Operations Handbook.

3.5 NAVIGATION SUBSYSTEM CONSTRAINTS

a. The GYRO TORQUING switch is not to be kept in the LEFT or RIGHT position for
more than two minutes. Aftertwo minutes on, the switch must be kept OFF for
a minimum of five minutesto prevent damage to the torquing motor.

b.
The navigation subsystem input voltage must not be allowed to be less than
30 VDC to prevent excessive computation and display errors and to prevent
damage to navigation equipment if the under-voltage situation is prolonged.
If the VOLTS indicator indicates less than 60 the NAV POWER circuit breaker
should be opened. The VOLTS indicator should be checked periodically (at least
each 15 minutes) to verify readings of not less than 60.

NOTE

Navigation readings should be reported and recorded by MCC before

closing the NAV POWER circuit breaker. Reapplication of power
will cause loss of display retention.

c. NAV POWER should be on for at least 3 minutes before driving the LRV to allow
the directional gyro to reach operating spin speed.

d. The LRV must be level within + 6 ° in pitch and roll and parked downsun within
+ 3 ° during navigation initiaTization and update to achieve required system
accuracy.

3.6 DISPLAY AND CONTROLS SUBSYSTEM CONSTRAINTS

Crew procedures for operating the displays and controls are contained in the basic
LRV Operations Handbook.

No constraints exist other than those already listed in 3.4 and 3.5.

A-25
Mission J Basic Date 2/5/71 Cnange Date 4/19/71 P_ge
 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

3.7 CREWSTATION SUBSYSTEMCONSTRAINTS

No constraints to crew station operation exist when operated in accordance with

the crew procedures in Section 2 of the basic LRV Operations Handbook.

These procedures are based on the crew station structural capability. To main-
tain the safety factor of 1.5 the loads imposed on crew station components should
not exceed the values shown in Figures 3-I and 3-2.

3.8 VEHICLE DYNAMIC OPERATION CONSTRAINTS

The LRV is designed with inherent stability characteristics of wide wheel track and
low center of gravity. Static stability limits are shown in Figure 3-4. Overturn
of the vehicle is a remote possibility, occurring only under severe conditions of
extremely tight turns at high speeds on steep slopes or collision with immovable
objects. Speeds, slopes, turning radii limits, and obstacle height to prevent
overturn and sliding are shown in Figures 3-5 through 3-9. These curves are based
on the C.G. of the loaded vehicle falling within the envelope shown on Figure 3-3.
The required increase in turning radius for preventing overturn caused by locating
the loaded LRV C.G. outside the Figure 3-3 envelope is shown in Figures 3-1O
through 3-15. Maximum allowable speeds to prevent exceeding structural design
loads are shown in Table 3-111. The safe driving corridor for driving with one
steering assembly failed is shown in Figure 3-16.

3.9 PARKING CONSTRAINTS

3.9.1 During-Traverse Parking

There are no orientation constraints imposed on parking in sunlight

during traverses. The LRV must not be parked in shadow for longer
than 2 hours to prevent display and control console electronics damage.

Switch and circuit breaker positions for short-term parking are given in the basic
LRV Operations Handbook.

3.9.2 Between-Traverses Parki ng

To prevent thermal damage to the control and display console instruments and to
be compatible with LCRU thermal requirements the LRV must be parked in sunlight
oriented relative to the sun azimuth in accordance with Figure 3-17 when parking
the LRV between sorties.

3.10 THERMAL CONSTRAINTS

The LRV is designed for operation in the lunar day at sun elevation angles of
greater than Five degrees. All qualification tests have been conducted to the
lunar environment temperature levels expected to be encountered by the LRV.
Operations on the moon should be restricted to maintain components within these
temperature limits. Temperature limits for specific components are defined in
Table 3-11.

4119171 A-26
Mission J Basic Date 2/5/71 Cnange Date ?_ge
 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

I00 Ib

HANDHOLD 3

J TOEHOLD I00 Ib
I00 Ib
OUTBOARD
HAND HOLD

ALL LOADS ARE LIMIT LOADS

IH_BLSARDHAND- _ XM RES/__T HAND CONT!O_iiiii_i_S2io01_ b

FIGURE 3-I CREW STATION LIMIT LOADS (HANDHOLDS AND TOEHOLDS)

J Basic Date 2/5/71 Cnange Date 4/19/71 :>_gc _A-27

Misslon
 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONSHANDBOOK
APPENDIX A

"L '
HI2 (_ J/2 +F L AND K DO NOT ACT
-HI2 ON BOTH SIDES OF
SEAT SIMULTANEOUSLY
E*

D*

J12 -F
HI2
-HI2

* DISTRIBUTED LOADS
ACTING OVER THE
APPLICABLE AREA

E _

D*

I B

I
ZSEAT BELT TENSION LOAD - 160 LBS

LOAD
CONDITION A B C D E F G H J K L

1 27 51 326 175 92 70 23 17 9 113 113

II 2l 254 70 43 198 17 0 0 0 0

3** 142 0 0 0 200 200 142 50 0 0 0

ALL LOADS ARE LIMIT LOADS

*_ CONDITION 3 LOADS DO NOT ACT SIMULTANEOUSLY

FIGURE 3-2 CREW STATION LIMIT LOADS (SEATS AND FOOTRESTS)

A-28
Missi0n J Basic Date 2/5/71 Cnanqe Date 4/19/71 2_ge o
 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

_ _TA
12225

o
I
_. STA STA
iL STA
X : 76.0
STA
Z = 86.25

STA Y-+3.2 X = 67.0

Y=-3.2

FIGURE 3-3 GROSS WEIGHT ALLOWABLE C.G. ENVELOPE

A-29
Mission J Basic Date 2/5/71 Cnange Date 4/19/71 P_ge
 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

3.1.0 Continued

Maximum Survival Minimum Minimum

Operating Upper Operating Survival
Temperature Temperature Temperature Temperature
Limit Limit Limit Limit
Component °F °F oF oF

*Batterv 125 140 40 -15

DCE 159 180 0 -20

*Traction Drive 400 450 -25 -50

Wheel 250 250 -200 -250

SPU 130 185 30 -65

DGU 160 200 -65 -80

IPI 185 185 -22 -65

Suspension Damper 400 450 -65 -70

Steering Motor 360 400 -25 -50

*Analog Display on LRV Panel

TABLE 3-11 COMPONENT TEMPERATURE LIMITS

3.10.! Shadow Constraints

The L RV must not be operated in shadows for !onoer than 30 continuous minutes to
prevent damage to the wire wheels. The LRV must be exposed to i0 minutes of
sunliaht before re-entering shadow to allow adequate surface-to-wheel heat transfer.

The LRV must not be par$:ed in lunar shadow for longer than two hours to prevent
low temperature damage to the electronics in the control and display console.

A-30
Mission J Basic Date 2/5/71 Cnange Date 4/19/71 _uge .---
Hi i
 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

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LUNAR ROVING VEHICLE
OPERATIOn,
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 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

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 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

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LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

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 L_,{)O6-.OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

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 LSOO6-OO2-ZH
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

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LUNARROVING
VEHICLE
OPERATIONS
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APPENDIX
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LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

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 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

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LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

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 LSOO6-OOZ-ZH
LUNARROVING
VEHICLE
OPERATIONS
HANDBOOK
APPENDIX
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 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

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 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

MAXIMUM SPEED FOR DESIGN LIMIT LOADS WITH FATIGUE CONSIDERATIONS*

LURAIN TYPE IMIDRANGE) MAX ALLOWABLE SPEED

SMOOTH MARE 13 KM/HR

ROUGHMARE 8.5 KM/HR

HUMMOCKY UPLAND 8 KM/HR

ROUGH UPLAND 7 KM/HR

*BASED ON CEI REFERENCE MISSION

TABLE 3-1II SPEED RESTRICTIONS

Page A-44
Basic Date 2/5/71 Change Date 4/19/71
Mission
 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

FOR SUN ELEV.

ANGLES GREATER
THAN 2 o

SOLAR
VECTOR

LRV

II0 °

120°

180 °

FOR SUN ELEV.

ANGLES 5° - 12 °

SHADED AREAS INDICATE THE PARKING ATTITUDES ACCEPTABLE

TO THE LRV AND TO THE PAYLOAD.

FIGURE 3-17 PARKING ORIENTATION CONSTRAINTS

Hibsion J Basic Date 2/5/71 Cnange Date 4/19/71 ,T>_ge A-45

 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

4.0 SUBSYSTEM PERFORMANCE DATA

This section defines the performance characteristics of the various LRV sub-
systems. Thermal performance characteristics are included for those subsystems
having thermal limitations.

4.1 MOBILITY SUBSYSTEM PERFORMANCE

LRV power consumption per kilometer of travel as functions of speed, lurain

slope and soil type is defined in Figures 4-I, 4-2, and 4-3. A constant speed
was considered in the preparation of these curves. The effect of vehicle accel-
eration through the irdicated velocity was not evaluated but the curves do in-
clude wheel slippage effects. Power consumption shown on these curves is based
on traction drive characteristics shown in Figure 4-4.

Battery current provided to the traction drives as a function of speed and hand
controller throttle position is defined on Figure 4-5.

The rate of traction drive temperature increase as a function of solar elevation

angle and drive temperature is defined on Figures 4-6. A zero degree slope was
considered in the preparation of these curves.

The effects of zenith angle and traction drive temperature upon the wheel
temperature increase for a solar elevation angle of 60 ° are shown in Figures
4-7 through 4-I0.

The rate of traction drive temperature increase as a function of vehicle speed

and traction drive temperature under zero degree slope and 60 degree solar
angle conditions is shown in Figures 4-7 through 4-I0.

The rate of traction drive temperature increase as a function of vehicle speed

and traction drive temperature under zero degree slope and 60 degree solar
angle conditions is shown in Figure 4-11.

The rate of traction drive temperature increase for a solar angle of 60 ° and
as a function of lurain slope and drive temperature is defined in Figure 4-12.

Mission J Basic Date 2/5/71 Cnange Date 4/19/71 , Puge mA-46

 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK

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LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

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APPENDIX
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VEHICLE
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APPENDIX
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APPENDIX
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VEHICLE
OPERATIONS
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Mission J Basic Date 2/5/71 Change Date 4/19/71 Page _A-58

 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONSHANDBOOK
APPENDIX A

4.2 ELECTRICAL SUBSYSTEMPERFORMANCE

The battery nominal voltage is 36 +5 VDC. Voltage for various current drains
between 0 and 62 amperes is shown T_ Figure 4-13. Voltage vs. state of charge
ai a final discharge rate of 47 amperes is shown in Figure 4-14. The rate of
battery temperature increase as a function of current flow and battery tempera-
ture is ,!efined on Figures 4-15 and 4-16. Separate curves are provided for
both left and right battery positions. The effect of battery temperature and
solar reflector dust coverage upon battery temperature change for both left and
right batte_1 p_sitions is defined on Figures 4-17 and 4-18. Rates of battery
temperature increase with one battery providing all the required LRV power can
be obtained from Figures 4-15 and 4-16.

Distribution losses in the power distribution system are shown in Figure 4-19.
The 36 volt losses (I_) are shown totaled for all four traction drive motors
using the motor current scale. Motor controller cable losses (Im) are shown
in Figures 4-19 using the total battery current scale.

A-59
Misslon J Basic Date 2/5/71 Change Date 4/19/71 ,,P_ge
 LSOO6-OO2-2H
LUiiARRNVI,!GVEHICLE
OPERATi0;ISIIANDBOOK
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LUNARROVING
VEHICLE
OPERATIONS
HANDBOOK

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Missien J Basic Date 2/5/71 Change Date 4/19/71 Page A-61

 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

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OPERATIONS
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APPENDIX
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LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

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LUNAR ROVING VEHICLE
OPERATIONSHANDBOOK
APPENDIX A

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LUNAR ROVINGVEHICLE
OPERATIONSHANDBOOK
APPENDIX A

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Basic Date 2/5/71 Change Date 4/19/71

Mission
 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

4.3 NAVIGATION SUBSYSTEM PERFORMANCE

Directicnal Gyro Unit power consumption as a function of temperature is defined

on Figure 4-20.

Directional Gyro Unit drift rate as a function of temperature is shown in

Figure 4-21.

Bearing error as a function of gyro drift rate and navigation subsystem update
period is shown on Figure 4-22.

Sun Shadow Device Azimuth corrections as a function of vehicle roll angle and
sun elevation angle are defined on Figure 4-23.

Sun Shadow Device Azimuth corrections as a function of Sun Shadow Device

Reading and pitch angle for sun elevation angles of I0, 25 and 40 degrees are
shown in Figures 4-24, 4-25, and 4-26.

A-67
J Basic D_te 2/5/71 Cnange Date 4/19/71 i_uge
M_SION
 LSOO6-OO2-2H
LUNAR ROVING VEIIICLE
OPERATIONS HANDBOOK
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 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OP[ RAT!O_:S HAPiD',_,OOK
APPENDIX A
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_++ss:o,_ J Basic Date 2/5/71 Change Date 4/19/71 Page A-69

 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

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Mission J Basic Date 2/5/71 Change Date 4/19/71 Page A-70

 LS006-002-2_I
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

I I
I. OBTAIh ROLL ANGLE FROM
ATT. IND. SUN ANGLLS
2. PROJECT ANGLE UP OR 60 °

3.
DOWN TO SUN ANGLE
INTERCEPT.
!
PROJECT TO SSD CORRECTION.
/
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LEFT ROLL ANGLE (L)
_""'-_-ROLL ANGLE (R) ___
10 5 I0 15

10o._-"_
15o--_j
2o°_,._ ACTUAL VEH. HEAD. =
_5 ¸
(SUN AZ -180° ) - (SSD) +
_oo../X (CORRECTION)
35°s
v

- 40°4J_5o
//// - -10 SSD = + (SHADOW TO RIGHT)
= - (SHADOW TO LEFT)

50°C
---15

ROLL CORRECTION FOR SSD

FIGURE 4-23 SSD AZIMUTH CORRECTION FOR VEHICLE ROLL

X_iun J Basic _te 2/5/71 Cnange Date 4/19/71 O_ge A-71w

 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONSHANDBOOK
APPENDIX A

CORRECTEDSSD
ANGLE FOR PITCH

r l
SUN ELEVATION : I0°

I_ +20°
PITCH UP

PITCH DOWN

SSD ANGLE (L)

I
SSD ANGLE (R)
&

15 lO lO
I
PITCH DOWN

+5

PITCH UI

'+I0

+20°

,+15

FIGURE 4-24. CORRECTED SSD ANGLE FOR VEHICLE PITCH (I0° SUN ELEVATION

Mission J Basic D_te 2/5/71 Cnange Date 4/19/71 i_ugeA-72

 LS006-002-211
LUNAR ROVING VEt(ICLL
OPERATIONS HANDBOOK
APPENDIX A'

CORRECTED SSD
ANGLE FOR PITCH

SUN ELEVATION = 25°

I
-15 PITC_HUP I +20°
O

.,o
-5

• ' j_/
SSD ANGLE (R)
lO 15

SSDIoANGLE_/_(L)
5/ +5 5

PITCH DOWN +I0

0° +20°

PITCH UP
+15

FIGURE 4-25 CORRECTED SSD ANGLE FOR VEHICLE PITCH (25° SUN ELEVATION)

Misslon J Basic Date 2/5/71 Change Date ii

4/Ig/71
i |l
i_ge A-73
 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

CORRECTED SSD
ANGLE FOR PITCH
i

SUN ELEVATION = 40°

15

PITCH UP

+20 °
-10 _ +lO°

-s , .R,

SSD
PITCH DOWN
SSD ANGLE (L) ,ANGLE (R)
15 5 lO 15

-lO" J
+lO

PITCH UP

+15

FIGURE 4-26 CORRECTED SSD ANGLE FOR VEHICLE PITCH (40° SUN ELEVATION)

Misslon J Basic D_te 2/5/71 Change Date 4/19/71 ;;ugeA-74

 LSOO6-OO2-2H
LUNARROVING
VEHICLE
OPERATIONS
HANDBOOK
APPENDIX
A

4.4 DISPLAYS
ANDCONTROLS
SUBSYSTEM
PERFORMANCE
Torquerequired to provide throttle control at various handcontroller angular
displacementsis defined on Figure 4-27.
Torquerequired to effect steering control at various handcontroller angular
displacementsis defined on Figure 4-28.
Handcontroller forces to accomplishvehicle braking as a function of hand
controller linear andangular displacementis defired on Figure 4-29.

M_sslon J Basic Date 2/5/71 Cnan_e Date .. 4/19/71 P,,ge A-75

i
 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

TORQUE
(IN-LB) I
' 16-
_'-'1 /--TORQUE LIMIT

---- 4-12 L__JE_ ...........

UE BAND 1
I DASH LINE INDICATES FROM O°F TO 200°F
I NOMINAL TORQUE VS
I
10"
I DISPLACEMENT I

12 10 8 6 4 6 8 I0 12

REVERSE FORWARD
DISPLACEMENT (DEG)

I
I

FIGURE 1-12 TORQUE R£QUIRED TO ROTATE I!AND CONTROLLER FOR IHROTTLE CONTROL

Mission J Basic Date 2/5/7] Change Date 4/19/71 Page A-76

 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

s_F I
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36

FIGURE 4-28 TORQUE REQUIRED TO ROTATE HAND CONTROLLER FOR STEERING CONTROL

Mission J Basic Date 2/5/71 Change Date 4/19/71 i)uge mA-77

 LS_O-OO2-2h
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

LIMIT STOP 4.0 o 4.3 IN

I
I
PARKING LATCH I
4C
I FORCE 30 LB.
I I
36 I i
I I I
32 I I
I I
28 I I I
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24
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J I I I
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12
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8 I LATCH I
I POSITION
2.6.- 3.1 IN I
I I
4
I I I
I I I

.B 1.2 l.6 2.0 2.4 2.8

DISPLACEMENT (IN.)

I I I ! I
5 10 15 20 25 30
DEGREES (REF)

FIGURE 4-29 BRAKE CONTROL FURCE VS DISPLACEMENT

Mission a Basic Date 2/S/7] Change Date 4/19/71 Page A-78

 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

5.0 VEHICLE PERFORMANCE DATA

5.1 VEHICLE DYNAMIC RESPONSE

The LRV will exhibit dynamic characteristics dependent on the surface traversed
and the speed at which the surface is traversed.

The vertical acceleration at the LRV seats for various speeds over various
surface types is shown in Figure 5-I.

The vibration environments induced into the various LRV payload zones as a
result of traversing the lunar surface are shown in Table 5-I.

J 2/5/71 Change Date 4/19/71 ;uge __A-79

_ission Basic D_te
 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

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 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONSHANDBOOK
APPENDIX A

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_i_si0n J Basic Date 2/5/71 Cnange Date 4/19/71 ?uge __A-81

 LSOO6-OO2-gH
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

5.2 RANGE, SPEED, LURAIN CAPABILITY

5.2.1 Range

Power for the LRV is supplied by two 36 VDC primary batteries having a total
capacity of 8280 watt-hours. LRV range is dependent on the way these watt-
hours are consumed, e.g. the ratio of driving time to standby time, the length
of time the LCRU is operated from LRV power, the length of time spent traver-
sing slopes and speed selected.

To calculate range, all power consumption must be determined, including both

variable and constant power levels. The variable power consumption for motor/
gear box inefficiencies, steering motor inefficiency and drive controller losses
can be calculated from the data presented in Section 4.1. Variable power use
due to electrical distribution losses are contained in Figure 4-19 • Variable
damping power losses are shown in Figure 5-2.

The other power users operate independent of the mobility subsystem and have
constant power levels regardless of LRV mobility activities. These constant
pnwer levels are defined in Table 5-11.

Range sensitivity to speed and weight are shown on Figure 5-4.

COMPONENT POWER TIME

CONTROL & DISPLAY I0 WATTS ENTIRE SORTIE

NAVIGATION (WARM UP) 90 WATTS 3 MINUTES

NAVIGATION (AFTER WARM UP) 40 WATTS ENTIRE SORTIE AFTER

WARMUP

DRIVE CONTROLLER (STANDBY) 23 WATTS DURING PARKED PERIOD

WITH DRIVE MOTORS ON

TABLE 5-11 LRV STEADY STATE POWER CONSUMPTION

5.2.2 Speed

LRV maximum speed capability is dependent on the slope being traversed, the
type of soil encountered, the surface roughness of the lurain and the LRV
gross weight. Maximum speed capability is shown ir Table 5-111. Effects of
weight on maximum speed is sho_ in Figure 5-5.

A-82
Misslon J Basic Date 2/5/71 Cnange Date 4/19/71, Puge
 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONSHANDBOOK
APPENDIX A

SURFACEROUGHNESS
SLOPE MID-RANGE PSD
0° 9.5

SMOOTH MARE 5_ 8.2

I0 ° 7.3

0* 10.5
ROUGHUPLANDS
5° 8.7

10 ° 7.6
TABLE 5-111 LRV SPEED CAPABILITY

5.2.3 Lurain Capability

The LRV is designed with the following capabilities of traversing the lunar
surface:

Crevasse Crossing Capability 70 cm width

Step Obstacle Climbing Capability 35 cm high
Clearance Under Chassis 35 cm

Slope climbing capability of the LRV is shown in Figure 5-6.

5.3 THERMAL PERFORMANCE

Themal performance characteristics of the LRV are defined in Section 4 under

the appropriate subsystem performance paragraph,

5.4 CONTROLLABILITY

5.4.1 Steering

The LRV has a turning radius of 122 inches utilizing the four wheel steering
capability. The steering rate is such that lock-to-lock steering angle change
can be accomplished in 6 seconds. Crewman forces required to control steer-
ing by use of the hand controller are shown in Figure 4-28.

5.4.2 Braking

Stopping distances for various initial speeds and different slopes are shown
in Figure 5-7.

Hand Controller forces required to effect braking are shown in Figure 4-29.

Mission J Basic Date 2/5/71 Cnange Date 4/19/71 i>_gejA-83

 LSOO6-OO2-2H
LUNARROVING
VEHICLE
OPERATIONS
HANDBOOK
APPENDIX
A

5.4.3 Speed
At high speedsthe LRVcan becomeuncontrollable. The controllability speed
limit is basedon wheel slip angle considerations and tends to be independent
of lurain type. The controllability speed limit should be utilized for mission
planning purposes. Double Ackerman steering was used.

Actual driving experience on the moon's surface should dictate the final con-
trollability speed restrictions.

CONTROLLABILITY SPEED LIMIT

ALL LURAIN TYPES lO KM/HR

TABLE 5-1V LRV CONTROLLABILITY SPEED LIMITS

__I

A-84
Mission J Basic Date 2/5/71 Change Date 4/19/71 Page ___-
 LSO06 -002 -2tt
LUNAR ROVING VEHICLE
OPLRAT IONS IIANDBOOK
APPLNIJIX A

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Miss10n J Basic Date 2/5/71 Cnanqe Date 4119/71 ;_9e A-85o

 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

_.J

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A-86
2/5/71 Cnanqe Date 4/19/71 P,,ge
Mission Basic Date
 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

÷
WE IGHT DATA TO BE SUPPLIED BY MSFC
LB

!
- 0 +

RANGE

FIGURE 5-4 EFFECT OF WEIGHT CHANGE ON RANGE FOR FOUR

LURAIN TYPES

A-87
Mission J Gasic D_te ,.2/5/71 Change Date 4/19/71 )>_ge
 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONSHANDBOOK
APPENDIX A

+
DATA TO BE SUPPLIED BY MSFC
A WEIGHTLB

MAX VELOCITY KPH +

FIGURE 5-5 EFFECT OF WEIGHT CHANGE ON MAXIMUM VELOCITY FOR

FOUR LURAIN TYPES

A-Si_
MissiOn Basic D_te 215171 Cnanqe Date 4/19/71
 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

DATA TO BE PROVIDED BY MSFC

i ....

FIGURE 5-6

SLOPE CLIMBING CAPABILITY FOR VARYING C.G. LOCATION

M_sion J Basic D_te 2/5171 Cnanqe Date 4/19/71 ?uge hA-89

 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

_20*
_° /
/
/
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STOPPING DISTANCE VERSUS INITIAL VELOCITY FOR VARIOUS SLOPES
/

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A-90
Mission J Basic Date 2/5/71 Cnange Date 4/19/71 P_ge ---
 LS006-002-2tt

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Ml_sion J Basic Date 215/71 Change Date 4/19/71 _ge __A-91

 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

DATA TO BE SUPPLIED BY MSFC

WE IGHT

FIGURE 5-9 EFFECT OF WEIGHT CHANGE ON CONTROLLABILITY FOR

FOUR LURAIN TYPES

A-92
Basic Date 2/5/71 Change Date 4/19/71 Puge .._
Mission
 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

6.0 SPECIFIC VEHICLE DATA

6.1 LRV-I

6.1.1 Constraints

No constraints other than those shown in Section 3 are applicable.

6.1.2 Subsystem Performance

The traction drive characteristics for each of the four traction drives on
LRV-I are shown in Figure 6-I through 6-4.

Forward and rear steering motor maximum current measured during acceptance test
was 1.50 amps for the front and 1.45 amps for the rear against a torque of
200 ir-lbs.

6.1.3 Vehicle Performance Data (Acceptance Test Data)

Power consumption characteristics of the navigation system are shown on Table

6-I.

Chassis ground clearance under full load (1520 l_s.) is 35.1 cm.

6.1.4 Controllability (Acceptance Test Data)

TFe turning radius measured during acceptance test is 3.1 meters.

Lock-to-lock steering required 5.0 +_ _l seconds, against a torque of 200 in-lbs.

6.1.5 Weight and Center of Gravity

The weight and C.G. of LRV-I in all flight and deployed configurations is shown
in Tables 6-11 and 6-111.

6. l .6 Navigation Odometer Factor

The LRV-I navigation system is set up such that the odometer will register 0.245
meters per count. Thc.-reare 9 counts per wheel revolution.

6.1.7 Meter Calibration

The final meter calibration curves for each of the four meters on LRV-I are
shown in Figures 6-5 through 6-8 .

_-93
J Basic Date 2/5/71 Change Date 4/19/71 P-ge
Mission
 LSOO6-OO2-2H
LUNARROVING
VEHICLE
OPERATIONS
HANDBOOK
APPENDIX
A

I ' T "i" _ 'T i i i I i

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I,.i-

A-94
Mission J Basic Date 2/5/71 Cnange Date 411gl71 .....
Puge ---
 LSOO6-OO2-2H
LUNARROVING
VEHICLE
OPERATIONS
HANDBOOK
APPENDIX
A

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M_slon J Basic Date 2/5/71 Cnange Date 4/19/71 Puge mA-95

 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

CO
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A-96
J Basic Date 2/5/71 Cnanqe Date 4/19/71 ?uge .--
Mi_slon
 LSOO6-OO2-2H
LUNAR
ROVINGVEHICLE
OPERATIONS
HANDBOOK
APPENDIXA

0-
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,v,
ission J Basic Date 2/5/71 Cnanqe Date 4/19/71 :_,,geA-97
 LSOO6-OOZ-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

NAVIGATION SYSTEM RESET AND WARMUP

NSS BATTERY NSS

CURRENT VOLTAGE TO POWER
(AMPS) SPU CONSUMED
(VOLTS) (WATTS)

2.36 34.8 82.1

LRV-I rlAVIGATIONSYSTEM POWER CONSUMPTION

TABLE 6-I

Mission J Basic Date 2/5/71 Cnange Date 4/19/71 Puge .._A-98

 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

I.iJ
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Misslon J Basic Date 2/5/71 Change Date 4/19/71 ?.ge _A-99

 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONSHANDBOOK
APPENDIX A

LRV-I LOADED WEIGHT DISTRIBUTION: FRONT WHEELS 48.4%

REAR WHEELS 51.6%

LRV-] LOADED WHEEL LOADING: RIGHT FRONT 365.5 LBS (24.0%)

LEFT FRONT 369.9 LBS (24,3%)
RIGHT REAR 390.2 LBS (25,7%)
LEFT REAR 394.8 LBS (26.0%)

TABLE 6-III LRV-I LUNAR OPERATIONAL WEIGHT

DISTRIBUTION - STATIC, LEVEL
LURAIN CONDITION

A-IO0
Mission J Basic Date 2/5/71 Change Date 4/19/71 7uge
 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONSHANDBOOK
APPENDIX A

r_
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Mission J Basic L)_te 2/5/71 Cnange Date 4/19/71 ?uge _A-IOI

 LSOO6-OO2-2H
LUNARROVING
VEHICLE
OPERATIONS
HANDBOOK
APPENDIX
A

MOTOR TEMPERATURE METER

FINAL CALIBRATION
METER 209-20005-4 SN 5
+3- LH I02.3 {_@ l.O MA
RH I02.4 fl@ l.O MA
+ ERROR: METER READS LOW ASCENDING
+2- - ERROR: METER READS HIGH DESCENDING ....

+l-

0
:C

t t I t t i
2O0 250 300 350 400 450 500
LH SCALE - DEGREES F

+3-

+2-

+l-

-3200 ,
250 w
300 ,
350 4(_
0 ,
450 w
500

RH SCALE - DEGREES F

FIGURE G-5

A-102
Mission J Basic Date 2/5/71 Change Date 4/19/71 Puge ..-
 LSOO6-OO2-2H
LUNARROVING
VEHICLE
OPERATIONS
HANDBOOK
APPENDIX
A

BATTERY TEMPERATURE METER

FINAL CALIBRATION
+3- METER 209-20005-3 SN 4
LH 97.2 II@ 1.0 MA
RH I03.3 II @ l.O MA
+2- ASCENDING ,
DESCENDING.....

+l-
C_
(D
r_

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-3 I I I I I I ! I I

0 20 40 60 80 1O0 120 140 160 180

LH SCALE - DEGREES F

+3-

+2-

+I-

| I I I I I I l I
20 40 60 80 lO0 120 140 160 180
RH SCALE - DEGREES F

FIGURE 6-6

A-103
Mission J Basic Date 2/5/71 Cnange Date 4/19/71 ;_uge
 LSOO6-OO2-2H
LUNARROVING
VEHICLE
OPERATIONS
HANDBOOK
APPENDIX
A

AMP HOUR METER

FINAL CALIBRATION
METER 209-20005-I SN 4
LH 98.5 Q@ l.O MA
RH 96.2 i_@ l.O MA
ASCENDING
+3- DESCENDING .....

+2-

+l-
C)

,.=,
O- v

-l-

-2-

-3 ! _ I I _ I ! i I I ! I' I I
-lO 0 lO 20 30 40 50 60 70 80 90 lO0 llO 120
LH SCALE - AMP HRS

+3-

+2"

+l-

==0-

-l

'1 I i I" ! i i I I I ! I ! I'

-lO 0 lO 20 30 40 50 60 70 80 90 lO0
RH SCALE - AMP HRS
FIGURE 6-7
A-104
Mission Basic Date 2/5/71 Change Date 4/19/71 Puge .__
 LSOO6-OO2-2H
LUNAR ROVING VEHICLE
OPERATIONS HANDBOOK
APPENDIX A

VOLTS/AMPS METER
FINAL CALIBRATION
METER 209-20005-2 SN )
LH 97.9 Q @ lO0 MV
+3- RH lOl.6Q @ lO0 MV
ASCENDING
DESCENDING.-.--,..
+2-

+l-

-2-

-3 I I I I I I I i I I

0 10 20 30 40 50 60 70 80 90 lOO

LH SCALE - VOLTS/AMPS

+3-

+2-

0 lO 20 30 40 50 60 70 80 90 lO0

RH SCALE - VOLTS/AMPS
FIGURE 6-8

4/19/71 A-105
Mission J Basic Date 2/5/71 Change Date ?uge --.
iiii
i

NASA -- MSC -- Coml., Houston. Texas