Ocean-world bodies like Europa and Enceladus are likely destinations for future space missions because they have conditions that could promote production of complex molecules and potentially life. Surface exploration of these bodies will require new types of robotics systems because their environments are unlike any we have encountered before. We have investigated several technologies for mobility, manipulation and sampling for these missions. For surface mobility, robotics systems will have to overcome terrain that has a wide range of potential terra-mechanical and topographical properties. We developed an optimized design through analysis, simulation and experimental demonstration to perform well in these conditions. For manipulation and sampling, it will be desirable to be able to collect samples over a wide area as far from the lander as possible. Alternative concepts were developed for reaching and collecting samples a very long distance from a lander, far beyond the capabilities of current manipulator arms. The alternative designs include (1) a foldable arm with truss components with a cable-and-pulley concept for transporting samples from the sample collector to the lander, and (2) a tethered projectile launched from the lander. Sampling material on the surface of these bodies will be a challenge because of the very cold temperatures. A three-pronged heated claw gripper was designed to address this challenge. These concept technologies have been demonstrated in simulation and in experiments. They will be capable of long-range mobility and sampling over varied terrain for exploration of ocean-world bodies.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Robotic Mobility and Sampling Systems for Ocean-World Bodies


    Beteiligte:
    Badescu, Viorel (Herausgeber:in) / Zacny, Kris (Herausgeber:in) / Bar-Cohen, Yoseph (Herausgeber:in) / Nayar, Hari (Autor:in) / Kim, Junggon (Autor:in) / Meirion-Griffith, Gareth (Autor:in) / Chamberlain-Simon, Brendan (Autor:in) / Carpenter, Kalind (Autor:in) / Boettcher, Anna (Autor:in) / Hans, Michael (Autor:in)

    Erschienen in:

    Handbook of Space Resources ; Kapitel : 27 ; 907-933


    Erscheinungsdatum :

    2023-04-28


    Format / Umfang :

    27 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Engineering Mobility for Ocean Worlds Robotic Systems

    Meirion-Griffith, Gareth | NTRS | 2019



    Towards Robust, Resilient Ocean World Science Sampling Systems

    Touma, Thomas / Das, Ersin / Burdick, Joel W. et al. | IEEE | 2023


    A multidisciplinary design tool for robotic systems involved in sampling operations on planetary bodies

    Riccobono, Dario / Genta, Giancarlo / Moreland, Scott et al. | BASE | 2020

    Freier Zugriff

    Adaptive Underwater Robotic Sampling of Dispersal Dynamics in the Coastal Ocean

    Berget, Gunhild Elisabeth / Eidsvik, Jo / Alver, Morten Omholt et al. | TIBKAT | 2022