ADVANCED PENETRATORS AND HAMMERING SAMPLING …robotics.estec.esa.int/ASTRA/Astra2011/Presentations/session 7b/02... · •Mole penetrator KRET was successfully tested in variousmaterials

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: [email protected] 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)


MUPUS device


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


INITIAL FORCE 1N

MUPUS hammering operation


• energy stored in a capacitor (4J), EM drive

(~1J), penetration force equivalent to 500N of

static force

MUPUS operation


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]


• 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)


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.


CHOMIK device


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)


Lock & Release mechanism


View of CHOMIK FM

with L&R mechanism:CHOMIK STM model - test of L&R mechanism:

Sampling operation 1/2


QM model - TV chamber,

sampling IKI Phobos regolith

analogue (-100 degC)

QM model - TV chamber,

hammering action (-40 degC)

Sampling operation 2/2


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


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)


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).


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


Thanks for your attention


Documents

ADVANCED PENETRATORS AND HAMMERING SAMPLING …robotics.estec.esa.int/ASTRA/Astra2011/Presentations/session 7b/02... · •Mole penetrator KRET was successfully tested in variousmaterials