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.
Robotic Mobility and Sampling Systems for Ocean-World Bodies
Handbook of Space Resources ; Kapitel : 27 ; 907-933
2023-04-28
27 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Engineering Mobility for Ocean Worlds Robotic Systems
NTRS | 2019
|Principles for robotic mobility on minor solar system bodies
Tema Archiv | 1998
|BASE | 2020
|