Prototype vehicle features exceptional obstacle-negotiating and slope-climbing capabilities plus high propulsive efficiency. Concept should interest designers of polar or ocean-bottom research vehicles. Also, its large footprint and low ground pressure will minimize ecological damage on terrain with low bearing strength, as in off-the-road application

Chang, C. J.

Trautwein, W.

English

NASA Technical Reports Server

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October 1973
	 B73-10326 
NASA TECH BRIEF 
Marshall Space Flight Center 
NASA Tech Briefs announce new technology derived from the U.S. space program. They are issued to encourage 
commercial application. Tech Briefs are available on a subscription basis from the National Technical Information 
Service, Springfield, Virginia 22151. Requests for individual copies or questions relating to the Tech Brief program may 
be directed to the Technology Utilization Office, NASA, Code KT, Washington, D.C. 20546. 
Articulated Elastic-Loop Roving Vehicles 
The problem: 
The scientific return from lunar and planetary 
missions can be increased by exploration of more terrain 
than is presently possible. Early wheeled rovers were un-
mited in stability and could not negotiate difficult ter-
rain.
Dual-Loop
The solution: 
A prototype vehicle, called Elastic-Loop Mobility 
System (ELMS), features exceptional obstacle-nego-
tiating and slope-climbing capabilities plus high propul-
sive efficiency. 
.
Passive	 Pitch 
Load Roller	 Articulator 
Motor	 Pivot Point 
Basic Layout of Three-Loop Articulated ELMS Roving
Vehicle With Internal Electric Drive
(continued overleaf) 
This document was prepared under the sponsorship of the National 	 Government assumes any liability resulting from the use of the 
Aeronautics and Space Administration. Neither the United States	 information contained in this document, or warrants that such use 
Government nor any person acting on behalf of the United States 	 will be free from privately owned rights.
https://ntrs.nasa.gov/search.jsp?R=19730000326 2020-03-17T07:03:04+00:00Z
How it's done: 
The ELMS is based on continuous elastic strips of 
high-strength metallic or fiber-reinforced composite ma-
terial with transverse curvature, supporting the three-loop 
vehicle shown in the figure. It features pitch-and-yaw 
articulation between a single-loop module and dual-loop 
module. The pitch-and-yaw articulation members are 
powered and are used for horizontal-attitude and steering 
controls, respectively. The dual-loop module is equipped 
with a walking beam that pivots at the center of the 
module body. This permits the forward- and rear-loop 
rollers (one in each loop is motor driven) to move to-
ward or away from the module body, in order to nego-
tiate essentially vertical obstacles and to traverse crevas-
ses.
Differential speed control of the three loops gives ex-
cellent maneuverability, so that bulldozing or sideslip-
ping is negligible during the tightest turns possible. Turn 
radii of less than 1.4 vehicle lengths are possible by steer-
ing to sharper steering angles or by scuff steering the 
dual-loop module, while partially or fully lifting the 
single-loop module with the powered pitch-control sys-
tem. 
The ELMS is designed so that the single-loop module 
can be stored directly beneath the dual-loop module, 
between its two loops. This results in appreciable space 
saving for aerospace applications and also for long-
distance over-the-road transportation by truck or trailer.
Notes: 
1. The ELMS concept should interest designers of 
polar or ocean-bottom research vehicles. Also, its 
large footprint and low ground pressure will mini-
mize ecological damage on terrain with low bear-
ing strength, as in off-the-road applications. 
2. Requests for further information may be directed 
to:
Technology Utilization Officer 
Marshall Space Flight Center 
Code A&PS-TU 
Marshall Space Flight Center, Alabama 35812 
Reference: B73-10326 
Patent status: 
Inquiries concerning rights for the commercial use of 
this invention should be addressed to: 
Patent Counsel 
Marshall Space Flight Center 
Code A&PS-PAT 
Marshall Space Flight Center, Alabama 35812 
Source: C. J. Chang and

W. Trautwein of

Lockheed Corp.

under contract to

Marshall Space Flight Center

(MFS-2269 1)
. 
fl 
B73-10326	 Category 03,06
	
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Articulated elastic-loop roving vehicles

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