Excahauler - Revision history

Acmattson3 at 22:02, 7 July 2025

2025-07-07T22:02:22Z

← Older revision		Revision as of 14:02, 7 July 2025
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	<p>The <strong>Excahauler</strong> is an autonomous mining robot built for [[Project Archives\|NASA's Break the Ice Challenge]] using a combination of welded steel and 3D printed parts. Designed to handle excavation and mining tasks in challenging environments, featuring robust construction and adaptable components. [https://www.youtube.com/watch?v=pq0jfVteUY0&ab_channel=OrionLawlor Here is a YouTube video] of Excahauler in action mining a block of concrete.</p>		<p>The <strong>Excahauler</strong> is an autonomous mining robot built for [[Project Archives\|NASA's Break the Ice Challenge]] using a combination of welded steel and 3D printed parts. Designed to handle excavation and mining tasks in challenging environments, featuring robust construction and adaptable components. [https://www.youtube.com/watch?v=pq0jfVteUY0&ab_channel=OrionLawlor Here is a YouTube video] of Excahauler in action mining a block of concrete.</p>

	<h2>~~Robot~~ Components</h2>		<h2>Components</h2>

	<h3>Frame</h3>		<h3>Frame</h3>
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	<p>The front scoop has a volume of 50 liters, allowing it to carry a payload of approximately 50 kg of broken-up material. It features a fork linear actuator for raising and lowering relative to the frame and a dump actuator for tilting the scoop to unload material.</p>		<p>The front scoop has a volume of 50 liters, allowing it to carry a payload of approximately 50 kg of broken-up material. It features a fork linear actuator for raising and lowering relative to the frame and a dump actuator for tilting the scoop to unload material.</p>

	<h2>~~Coordinate System~~</h2>		<h2>Software</h2>
	[[File:Excahauler Frame.jpg\|alt=Excahauler's bare frame, with a colored axis label at the center. \|thumb\|Excahauler's bare frame, with a colored axis label at the center. Red is X, yellow is Y, and blue is Z.]]		[[File:Excahauler Frame.jpg\|alt=Excahauler's bare frame, with a colored axis label at the center. \|thumb\|Excahauler's bare frame, with a colored axis label at the center. Red is X, yellow is Y, and blue is Z.]]
			<p>Excahauler uses the [[LUNATIC]] software stack, as seen on [https://github.com/auroraRoboticsLab/MiningRobot its GitHub repository].</p>
	<p>The robot follows a right-handed coordinate system:</p>		<p>The robot follows a right-handed coordinate system:</p>
	<ul>		<ul>

Acmattson3 at 21:39, 4 July 2025

2025-07-04T21:39:30Z

← Older revision		Revision as of 13:39, 4 July 2025
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	<h2>Coordinate System</h2>		<h2>Coordinate System</h2>
			[[File:Excahauler Frame.jpg\|alt=Excahauler's bare frame, with a colored axis label at the center. \|thumb\|Excahauler's bare frame, with a colored axis label at the center. Red is X, yellow is Y, and blue is Z.]]
	<p>The robot follows a right-handed coordinate system:</p>		<p>The robot follows a right-handed coordinate system:</p>
	<ul>		<ul>

Acmattson3 at 21:31, 4 July 2025

2025-07-04T21:31:45Z

← Older revision		Revision as of 13:31, 4 July 2025
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	<h2>Development</h2>		<h2>Development</h2>
	<p>The Excahauler is an ongoing project aimed at advancing autonomous mining technologies. The robot's design and functionality continue to be refined based on testing and research.</p>		<p>The Excahauler is an ongoing project aimed at advancing autonomous mining technologies. The robot's design and functionality continue to be refined based on testing and research. Its design is a major influence toward [[L.A.M.P: Lunar, Autonomous, Modular Platform\|LAMP]] candidate designs.</p>

	<h2>Further Information</h2>		<h2>Further Information</h2>

Acmattson3 at 21:31, 4 July 2025

2025-07-04T21:31:09Z

← Older revision		Revision as of 13:31, 4 July 2025
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	<h1>Excahauler Mining Robot</h1>		<h1>Excahauler Mining Robot</h1>
	[[File:Team-with-excahauler.jpg\|alt=The Aurora Robotics Team alongside the Excahauler robot at UAF's 2024 Party in the Park.\|thumb\|The Aurora Robotics Team alongside the Excahauler robot at UAF's 2024 Party in the Park.]]		[[File:Team-with-excahauler.jpg\|alt=The Aurora Robotics Team alongside the Excahauler robot at UAF's 2024 Party in the Park.\|thumb\|The Aurora Robotics Team alongside the Excahauler robot at UAF's 2024 Party in the Park.]]
	<p>The <strong>Excahauler</strong> is an autonomous mining robot ~~designed~~ using a combination of welded steel and 3D printed parts. ~~Built for [https://breaktheicechallenge.com/ NASA's Break the Ice Challenge], it is built~~ to handle excavation and mining tasks in challenging environments, featuring robust construction and adaptable components. [https://www.youtube.com/watch?v=pq0jfVteUY0&ab_channel=OrionLawlor Here is a YouTube video] of Excahauler in action mining a block of concrete.</p>		<p>The <strong>Excahauler</strong> is an autonomous mining robot built for [[Project Archives\|NASA's Break the Ice Challenge]] using a combination of welded steel and 3D printed parts. Designed to handle excavation and mining tasks in challenging environments, featuring robust construction and adaptable components. [https://www.youtube.com/watch?v=pq0jfVteUY0&ab_channel=OrionLawlor Here is a YouTube video] of Excahauler in action mining a block of concrete.</p>

	<h2>Robot Components</h2>		<h2>Robot Components</h2>

Acmattson3 at 22:31, 17 September 2024

2024-09-17T22:31:52Z

← Older revision		Revision as of 14:31, 17 September 2024
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	<h1>Excahauler Mining Robot</h1>		<h1>Excahauler Mining Robot</h1>
	[[File:Team-with-excahauler.jpg\|alt=The Aurora Robotics Team alongside the Excahauler robot at UAF's 2024 Party in the Park.\|thumb\|The Aurora Robotics Team alongside the Excahauler robot at UAF's 2024 Party in the Park.]]		[[File:Team-with-excahauler.jpg\|alt=The Aurora Robotics Team alongside the Excahauler robot at UAF's 2024 Party in the Park.\|thumb\|The Aurora Robotics Team alongside the Excahauler robot at UAF's 2024 Party in the Park.]]
	<p>The <strong>Excahauler</strong> is an autonomous mining robot designed using a combination of welded steel and 3D printed parts. Built for [https://breaktheicechallenge.com/ NASA's Break the Ice Challenge], it is built to handle excavation and mining tasks in challenging environments, featuring robust construction and adaptable components.</p>		<p>The <strong>Excahauler</strong> is an autonomous mining robot designed using a combination of welded steel and 3D printed parts. Built for [https://breaktheicechallenge.com/ NASA's Break the Ice Challenge], it is built to handle excavation and mining tasks in challenging environments, featuring robust construction and adaptable components. [https://www.youtube.com/watch?v=pq0jfVteUY0&ab_channel=OrionLawlor Here is a YouTube video] of Excahauler in action mining a block of concrete.</p>

	<h2>Robot Components</h2>		<h2>Robot Components</h2>

Acmattson3: Added images of Excahauler.

2024-09-16T00:27:24Z

Added images of Excahauler.

← Older revision		Revision as of 16:27, 15 September 2024
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	<h1>Excahauler Mining Robot</h1>		<h1>Excahauler Mining Robot</h1>
			[[File:Team-with-excahauler.jpg\|alt=The Aurora Robotics Team alongside the Excahauler robot at UAF's 2024 Party in the Park.\|thumb\|The Aurora Robotics Team alongside the Excahauler robot at UAF's 2024 Party in the Park.]]
	<p>The <strong>Excahauler</strong> is an autonomous mining robot designed using a combination of welded steel and 3D printed parts. Built for [https://breaktheicechallenge.com/ NASA's Break the Ice Challenge], it is built to handle excavation and mining tasks in challenging environments, featuring robust construction and adaptable components.</p>		<p>The <strong>Excahauler</strong> is an autonomous mining robot designed using a combination of welded steel and 3D printed parts. Built for [https://breaktheicechallenge.com/ NASA's Break the Ice Challenge], it is built to handle excavation and mining tasks in challenging environments, featuring robust construction and adaptable components.</p>

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	<h3>Frame</h3>		<h3>Frame</h3>
			[[File:Excahauler sideview.png\|alt=A sideview of the Excahauler robot.\|thumb\|A sideview of the Excahauler robot.]]
	<p>The base of the robot consists of a welded steel frame made from 1-inch (25mm) steel box tubing. The front wheels attach directly to the frame for stability, while the middle and rear wheels are mounted on a rocker system to adapt to uneven terrain. The electronics box, front fork, and arm boom are also bolted directly onto the frame.</p>		<p>The base of the robot consists of a welded steel frame made from 1-inch (25mm) steel box tubing. The front wheels attach directly to the frame for stability, while the middle and rear wheels are mounted on a rocker system to adapt to uneven terrain. The electronics box, front fork, and arm boom are also bolted directly onto the frame.</p>

Acmattson3: Added link to Break The Ice

2024-09-16T00:21:41Z

Added link to Break The Ice

← Older revision		Revision as of 16:21, 15 September 2024
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	<h1>Excahauler Mining Robot</h1>		<h1>Excahauler Mining Robot</h1>

	<p>The <strong>Excahauler</strong> is an autonomous mining robot designed using a combination of welded steel and 3D printed parts. It is built to handle excavation tasks in challenging environments, featuring robust construction and adaptable components.</p>		<p>The <strong>Excahauler</strong> is an autonomous mining robot designed using a combination of welded steel and 3D printed parts. Built for [https://breaktheicechallenge.com/ NASA's Break the Ice Challenge], it is built to handle excavation and mining tasks in challenging environments, featuring robust construction and adaptable components.</p>

	<h2>Robot Components</h2>		<h2>Robot Components</h2>

Acmattson3: Created page with "

Excahauler Mining Robot

The Excahauler is an autonomous mining robot designed using a combination of welded steel and 3D printed parts. It is built to handle excavation tasks in challenging environments, featuring robust construction and adaptable components.

Robot Components

Frame

The base of the robot consists of a welded steel frame made from 1-inch (25mm) steel box tubing. The front wheels attach directly to th..."

2024-09-16T00:19:54Z

Created page with "<h1>Excahauler Mining Robot</h1> <p>The <strong>Excahauler</strong> is an autonomous mining robot designed using a combination of welded steel and 3D printed parts. It is built to handle excavation tasks in challenging environments, featuring robust construction and adaptable components.</p> <h2>Robot Components</h2> <h3>Frame</h3> <p>The base of the robot consists of a welded steel frame made from 1-inch (25mm) steel box tubing. The front wheels attach directly to th..."

New page

<h1>Excahauler Mining Robot</h1>

<p>The <strong>Excahauler</strong> is an autonomous mining robot designed using a combination of welded steel and 3D printed parts. It is built to handle excavation tasks in challenging environments, featuring robust construction and adaptable components.</p>

<h2>Robot Components</h2>

<h3>Frame</h3>
<p>The base of the robot consists of a welded steel frame made from 1-inch (25mm) steel box tubing. The front wheels attach directly to the frame for stability, while the middle and rear wheels are mounted on a rocker system to adapt to uneven terrain. The electronics box, front fork, and arm boom are also bolted directly onto the frame.</p>

<h3>Robot Arm</h3>
<p>The robot arm has two main links:</p>
<ul>
<li><strong>Boom:</strong> Connects to the frame, providing front-to-back motion. It is aligned with an inertial measurement unit mounted on an angled bar.</li>
<li><strong>Stick:</strong> The stick, following excavator naming conventions, has an Intel RealSense D455 depth camera mounted on top and a small electronics box for motor controllers.</li>
</ul>

<h3>Tool Coupler</h3>
<p>The tool coupler allows for quick tool changes using a two-pin system similar to an excavator's quick-change setup. It includes a locking mechanism to secure tools in place, allowing the robot to switch between different excavation tools efficiently.</p>

<h3>Excavation Tools</h3>
<p>The robot can use various excavation tools, with the primary tool being a rock grinder. This tool spins a drum to mill material directly into the front scoop. The large ammo can on the robot houses the batteries, motor controller, and space for cooling oil.</p>

<h3>Front Scoop</h3>
<p>The front scoop has a volume of 50 liters, allowing it to carry a payload of approximately 50 kg of broken-up material. It features a fork linear actuator for raising and lowering relative to the frame and a dump actuator for tilting the scoop to unload material.</p>

<h2>Coordinate System</h2>
<p>The robot follows a right-handed coordinate system:</p>
<ul>
<li>+Y is forward</li>
<li>+X is to the robot's right</li>
<li>+Z is up</li>
</ul>
<p>Some components use rotated coordinate systems to align with the mounted sensors.</p>

<h2>Development</h2>
<p>The Excahauler is an ongoing project aimed at advancing autonomous mining technologies. The robot's design and functionality continue to be refined based on testing and research.</p>

<h2>Further Information</h2>
<p>For more details on the robot's design and development, visit the project's [https://github.com/auroraroboticslab/excahauler GitHub page].</p>

<p>For questions or suggestions, please contact lawlor@alaska.edu.</p>

<p><em>Note: Unless specified otherwise, the source code files are released to the public domain.</em></p>