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J. Grygorczuk1, M. Banaszkiewicz1, A. Cichocki1, M. Ciesielska1, M. Dobrowolski1, B.
Kędziora1, J. Krasowski1, T. Kuciński1, M. Marczewski1, M. Morawski1, H. Rickman1, T. Rybus1,
K. Seweryn1, K. Skocki1, T. Spohn2, T. Szewczyk1, R. Wawrzaszek1, Ł. Wiśniewski1
1 Space Research Centre PAS, Bartycka 18A, 00-716 Warsaw, Poland,
email: jurekgry@cbk.waw.pl2 Deutsches Zentrum für Luft- und Raumfahrt, Rutherfordstr.2, Berlin, Germany
ADVANCED PENETRATORS AND HAMMERING
SAMPLING DEVICES FOR
PLANETARY BODY EXPLORATION
1 1 t h S y m p o s i u m o n A d v a n c e d S p a c e T e c h n o l o g i e s i n R o b o t i c s
a n d A u t o m a t i o n - A S T R A
1 2 – 1 4 A p r i l , E S A / E S T E C , N o o r d w i j k
Outline
1. General overview of penetrators
2. MUPUS device for the Rosetta mission
3. KRET – evaluation of the performance, most recent tests
4. CHOMIK - a MUPUS redesign to meet a new challange
(Phobos-Grunt sampling device)
5. Summary
2011-04-14 ASTRA Conference 2011 2
Penetrators
• Instruments used for sensors transportations and
measurments, soil sampling, anchornig and other geological
investigations (e.g. determination of soil mechanical
properties)
• Methods of insertion:
– Drilling
– Impact (kinetic energy)
– Hammering
– Pyro
– Other (e.g. wooden wasp method)
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MUPUS device
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PenetratorManipulator
DLR/ESA Philae lander with marked place of the MUPUS
attachement
MUPUS device with stowed
manipulator system
MUPUS participation in Rosetta
• Rosetta: launch in 2004/comet
approach in 2014
• MUPUS:
– Deployment (manipulator arm with C-
shaped rolled tubular booms) allowing
for measurements up to 1.2 m off the
lander
– Measuring thermal profile and thermal
conductivity of the soil up to 40cm
below surface
– Displacement sensor (depth sensor) for
determination of soil mechanical
properties
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INITIAL FORCE 1N
MUPUS hammering operation
2011-04-14 ASTRA Conference 2011 6
• energy stored in a capacitor (4J), EM drive
(~1J), penetration force equivalent to 500N of
static force
MUPUS operation
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Hammering action of
the insertion device (above)
Begining of insertion (foamglass material) �
Puncture of the sample
Mole penetrator KRET
1:1:10
∆x
1
∆x
2
1 2 3 4(4)
0 0,02 0,04 0,06 0,08 0,1 0,12 0,14
0
2
4
6
8
10
Time [s]
Mol
e pr
ogre
ss [m
m]
2011-04-14 ASTRA Conference 2011 8
• Started in 2006 as national grant and continued as
PECS project.
• Proper mass ratio, innovative latch system, and tip
shape optimization allow for a better performance
and high energy strokes.
KRET working stages (left), plot of a single stroke displacement
(middle) and view of the penetrator KRET (right)
Test-bed facil ities
• 5m vertical test-bed and 1.8m test-bed
with variable inclination (85-0deg)
•Vacuum conveyor for filling and emptying
test-beds
•New lunar regolith simulant developed –
with AGH-UST Krakow (named AGK-2010)
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1.8m test-bed 5m test-bedConveyor
0 1000 2000 3000 4000 50000
1
2
3
4
5
6
Total number of strokes
Pos
ition
of t
he p
enet
rato
r tip
[m]
0 5 10 15 20 25 30 35 40 45
0
1
2
3
4
5
6
Time [h]
Quartz sandlunar analogue AGK-2010 (not compacted)lunar analogue AGK-2010 (compaction: 0.93)lunar analogue AGK-2010 (compaction: 0.82)
Mole tests in 5m test-bed
Vf=528.2 mm/h V
f=319.8 mm/h V
f=48.9 mm/h
Vf=6.8 mm/h
2011-04-14ASTRA Conference 2011
10
Key parameters:
Main test results
No MaterialAv. progress
[mm/stroke]
Av. velocity
[mm/h]
Final velocity
[mm/h]
1 Quartz sand 2.59 310.4 319.8
2 AGK – 2010
(not compacted)5.72 665.9 528.2
3 AGK – 2010
(0.93 compaction)1.59 180.8 48.9
4 AGK – 2010
(0.82 compaction)0.26 30.2 6.8
Stable progress at the end of motion even in highly compacted
lunar analogue.
Compaction level (CL): the ratio of the volume of loose material (stored in a container)
which fully fills the test-bed system without compaction process to the volume of loose
material (stored in a container) which fully fills the test-bed system with compaction
process. 2011-04-14 ASTRA Conference 2011 11
KRET’s test remarks
•Mole penetrator KRET was successfully tested in various materials
up to the depth of 5m.
• Mole progress depends highly on the compaction level of the lunar
analogue.
•Drive spring with energy 2.2J is enough to reach the depth of 5m in
the material with CL = 0.93.
•In highly compacted material (CL = 0.82) mole penetrator reduces
its velocity to 5mm per hour.
•For less compacted material mole progress decreases up to ~1.5m
depth and then remains constant.
•So far KRET has already made ~13 500 strokes and traveled a
distance of ~27 meters.
•Mechanical resistance of the cable is negligible.
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CHOMIK device
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CHOMIK flight model
CHOMIK and IKI
manipulator in flight
configuration
• Dedicated for Phobos-Grunt mission
• Based on the MUPUS instrument and its heritage
• Low power consumption ,
but high energy hammering
• Sample collection
• Thermal & mechanical measurments
CHOMIK’s sensors and goals
• Thermal conductivity sensor
• Temperature sensor
• Container for a soil sample
• Displacement sensor – determination of
mechanical properties of soil
• Breaking rocks (after release of a sample
container)
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Lock & Release mechanism
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View of CHOMIK FM
with L&R mechanism:CHOMIK STM model - test of L&R mechanism:
Sampling operation 1/2
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QM model - TV chamber,
sampling IKI Phobos regolith
analogue (-100 degC)
QM model - TV chamber,
hammering action (-40 degC)
Sampling operation 2/2
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STM model mounted on IKI manipulator:
Source: IKI
STM model– release
of a sample container:
QM model – sample release and the container
with Phobos regolith simulant collected (right) �
SRC PAS penetrators overview
2011-04-14 ASTRA Conference 2011 18
Material MUPUS KRET CHOMIK
Av. power
consumption
[W]
1.5 0.3 1.7
Energy per
stroke [J]0.8 2.2 1.0
Dimensions
[mm]Φ70x520 Φ20.4x336 Φ70.5x418.6
Mass [kg] 0.48 0.50 0.62
Main objectives Thermal and mechanical
measurements of the
comet, operation in
u-gravity and severe
environment
Sensors transportation
up to 5 meters under
the surface, thermal
and mechanical
measurements of the
soil
Soil sampling, rocks breaking,
thermal and mechanical
measurements, operation in
u-gravity and severe
environment
TRL 8 4-5 8
Final remarks 1/2
• It is probable that CHOMIK will operate earlier than the
MUPUS, even though the MUPUS was launched 7 years ago.
• Penetrators developed at SRC PAS are very reliable (due to
EM drive – only one moving part) and have high robustness .
• They provide low power consumption but high energy per
stroke.
• CHOMIK instrument has proven that the design of the MUPUS
insertion device can be applied not only for soil penetration
but also for soil sampling.
• HEEP (High Energy and Efficiency Penetrator) development
(static force 0.25T, 4 times more energetic than MUPUS)
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Final remarks 2/2
• It was demonstrated that KRET design can penetrate soil up
to a depth of 5m and is able to work in subsurface layers of
planetary bodies (made of regolith material).
• New lunar regolith analogue was developed: AGK-2010.
• Another KRET test campaign (June 2011)
• Data derived the MUPUS and CHOMIK performence will let us
define environment constraints for future missions
• Processing of experimental data from space projects
(MUPUS, CHOMIK) and data from laboratory tests (mole
KRET) will allow for a better understanding of the mechanics
of the regolith. Civil engineering of space bodies is
prerequisite for a planetary exploration (i.e. lunar base).
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Acknowledgments
The paper was supported by the following projects:
• MUPUS:
– national grant: 2 PO3C 009 12p02;
• KRET:
– national grant: N522 003 31/1166;
– ESA PECS project no. 98103
• CHOMIK:
– national grant: 791/NROSJA/2010/0
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Thanks for your attention
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