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All sourcesNASA NTRSDOE OSTI
NASA NTRS2008

Evaluation of Perfluoropolyether Lubricant Lifetime in the High Stress and High Stress-Cycle Regime for Mars Applications

The successful operation of long-life, highly loaded mechanisms used for planetary exploration or autonomous structures assembly will depend upon the ability to effectively lubricate rolling-element bearings. As new tools are developed (i.e., drill, abraders, robotic manipulators, etc.) that interact with their environment in a more direct manner, lubricants will be pushed past the bounds that current scientific literature has published. This paper details results from bearing lubrication lifetime testing performed in support of Honeybee Robotics development of the Mars Science Laboratory (MSL) Surface Removal Tool (SRT). This testing was done due to the lack of available data in research literature that is applicable to the lubrication regime the SRT bearings are being designed for. Based on the test results, the chosen bearing arrangement can be used for the SRT Grind Shaft bearings with the use of a Braycote Micronic 601EF grease-plate with a 10 vol% grease slurry fill (50/50 wt% Braycote Micronic 601EF and Brayco 815Z). This arrangement showed no signs of detrimental degradation over the course of the 3x life test. The purely grease-plated bearing ran at a consistently higher torque and showed signs of failure beginning at approximately 2.2 x 10(exp 7) revs (approximately 6.3 x 10(exp 7) stress-cycles) with a torque over-limit failure at approximately 4.5 x 10(exp 7) revs (approximately 1.3 x 10(exp 8) stress-cycles). Barring cold-start torque margin limitations, it is recommended that any long-life bearing application include some vol% grease-pack in addition to a standard grease-plate to reduce parasitic torque and increase bearing life. While these results are specific to a particular environment and loading condition, they demonstrate the extended capabilities of a commonly used flight lubricant outside of the range that is published in current research literature.

Herman, Jason↗
NASA NTRSDate not supplied

Lunar Resource Investigation With NASA's VIPER Mission

The VIPER mission will be NASA’s first mobile robotic lunar drilling and volatiles assessment mission bound for the lunar south pole. From a resources perspective, the data acquired through VIPER’s operation on the lunar surface will inform future Artemis missions. The VIPER mission will provide important geotechnical details as well as volatiles qualification and quantification. The VIPER mission instrumentation suite and the overall science mission objectives will be presented at the European Lunar Symposium 2024.

VIPER↗
NASA NTRS2015

Impact of Drilling Operations on Lunar Volatiles Capture: Thermal Vacuum Tests

In Situ Resource Utilization (ISRU) enables future planetary exploration by using local resources to supply mission consumables. This idea of 'living off the land' has the potential to reduce mission cost and risk. On the moon, water has been identified as a potential resource (for life support or propellant) at the lunar poles, where it exists as ice in the subsurface. However, the depth and content of this resource has yet to be confirmed on the ground; only remote detection data exists. The upcoming Resource Prospector mission (RP) will 'ground-truth' the water using a rover, drill, and the RESOLVE science package. As the 2020 planned mission date nears, component level hardware is being tested in relevant lunar conditions (thermal vacuum). In August 2014 a series of drilling tests were performed using the Honeybee Robotics Lunar Prospecting Drill inside a 'dirty' thermal vacuum chamber at the NASA Glenn Research Center. The drill used a unique auger design to capture and retain the lunar regolith simulant. The goal of these tests was to investigate volatiles (water) loss during drilling and sample transfer to a sample crucible in order to validate this regolith sampling method. Twelve soil samples were captured over the course of two tests at pressures of 10(exp-5) Torr and ambient temperatures between -80C to -20C. Each sample was obtained from a depth of 40 cm to 50 cm within a cryogenically frozen bed of NU-LHT-3M lunar regolith simulant doped with 5 wt% water. Upon acquisition, each sample was transferred and hermetically sealed inside a crucible. The samples were later baked out to determine water wt% and in turn volatile loss by following ASTM standard practices. Of the twelve tests, four sealed properly and lost an average of 30% of their available water during drilling and transfer. The variability in the results correlated well with ambient temperature (lower the temperature lower volatiles loss) and the trend agreed with the sublimation rates for the same temperature. Moisture retention also correlated with quantity of sample: a larger amount of material resulted in less water loss. The drilling process took an average of 10 minutes to capture and transfer each sample. The drilling power was approximately 20 Watt with a Weight on Bit of approximately 30 N. The bit temperature indicated little heat input into formation during the drilling process.

drilling↗
NASA NTRSDate not supplied

TRIDENT Drill Validation at Mars and Lunar Analog Field Sites

Drilling on Earth is typically a human-intensive activity. Drilling on other planets is further complicated by the lack of prior local field surveys of their target area, hence blindly drilling into uncertain target rocks. Field conditions on the Moon or Mars are also different than for shallow drilling on Earth: lower temperatures and pressures, less power available, low masses (hence less weight-on-bit). Given the cost of transport from Earth, no drilling muds or working fluids are likely to be available to carry away cuttings. And impact-gardened regolith and dust vary mechanically and texturally from most terrestrial soils. The Regolith and Ice Drill for Exploration of New Terrains (TRIDENT) is a rotary-percussive 1m-class drill from Honeybee Robotics. It is low-power (rotary and percussive actuators are 200 W each) and lightweight (<20 kg) with the maximum weight on bit limited to 200 N. TRIDENT has been manifested for the Volatiles Investigating Polar Exploration Rover (VIPER) and PRIME-1 lunar south pole missions in 2024, has previously been field tested at a hot, dry analog site in the Atacama Desert, and in lunar conditions in thermal vacuum chamber tests. TRIDENT was also part of the 2019 Icebreaker Mars Discovery proposal, as well as in the Mars Life Explorer concept. During ARADS tests, drill control and fault recovery automation software enabled hands-off operations of a rover-mounted TRIDENT drill. TRIDENT Drill Analog Site Validation: Past TRIDENT tests in thermal vacuum (TVAC) chambers targeted containers of manufactured lunar simulants with added volatiles. 2022 TRIDENT ambient testing at NASA Ames drilled into cemented lunar simulant materials. Low cuttings-permeability led to cuttings buildup, and drill choking and binding was observed. The Atacama analog site in ARADS had desiccated unconsolidated sediments that did not challenge the TRIDENT design. However, lunar polar regolith is expected to be diverse and heterogeneous with varying clast sizes, with abundant impactites and perhaps subsurface ice deposits. Neither the simulants nor Atacama testing had completely covered the TRIDENT-targeted field characteristics, motivating further analog tests prior to the planned lunar missions. To gain more insight into the behavior of the TRIDENT hardware in diverse impactites and subsurface ice, and to verify the software automation in that environment, in August 2023 TRIDENT was brought to Haughton Crater, a field analog site in the Canadian Arctic. In September 2023 the same drill was brought to the Bishop Tuff in southern California to verify whether drilling binding behaviors previously seen in lunar simulant testing would be observed in naturally occurring fine-grained massive layers. The ~22 Ma Haughton Crater impact structure is located at 75 ̊22’ N, 89 ̊41’ W, on northwestern Devon Island, Nunavut, Canada. Numerous deposits of pale-grey crater-fill polymictic impact-melt breccia are found within the crater with a typical thickness reaching ~125 m or greater and covering ~60 km -2 . An approximately 600m-thick permafrost layer is also present with ice typically found within 0.5-0.6m of the surface. The volcanic tableland north of Bishop, CA exposes densely welded tuff laid down during the eruption that created the Long Valley Caldera at approximately 0.76 Ma. Extensional faults and the Owens River gorge expose cross-sections across the plateau. The area is viewed as an analog site for Mars features believed to be of pyroclastic origin. Results: Haughton Crater.Drilling tests were conducted 8-13 August 2023 at a previously undisturbed area separated 5-10 m from past years’ Drill Hill test sites (75.4208, -089.7613). In six days, TRIDENT drilled 8 holes to nearly 1 m depth each, totaling 7.80 m. The active layer/ice boundary was at ~67 cm depth, with a total of approximately 2.4 m drilled into ice or ice-cemented impact breccia. During drilling, five drill fault states were observed and successfully recovered. Holes 23-1, 4 and 7 were drilled under manual control, using Honeybee’s Thorax user interface. Holes 23-5, 6, and 8 were drilled with the Ames IBexec automated drilling control software. TRIDENT was observed to have little difficulty in the thawed uncemented impact breccia above the active layer boundary, but required percussion to make slower headway in the ice-cemented breccia. In Hole 23-7 (Fig.1), drilling slowed down in a massive unit just above the active-layer boundary (perhaps a large rock extending into the ice-cementation?), with only 7cm progress made in 27 minutes of high auger torque and constant percussion, leading to a choking fault and then a binding fault. A similar pattern had been observed in TRIDENT Rio Tinto test data from 2017 [6] as well as in the 2022laboratory tests.Bishop Tuff.A team from NASA Ames and the US Geological Survey deployed the same TRIDENT drill to Bishop Sites 1B and 1C (37.4203, -118.4289; 37.4265, -118.4215) on 13-16 September 2023, on the Bishop Tuff plateau. A third drill site was used 17-18 September 2023(37.4598, -118.3667) in an abandoned pumice mine. Four holes (totaling 2.5m depth) were drilled into the fine-grained, meters-thick tuff units at Sites 1B and 1C, and a further two boreholes (totaling 1.98m depth) were made at the pumice site. Drill behavior in the tuff below 10 cm depth was similar to that seen at 65-74 cm depth in Haughton Hole 23-7 (Fig. 1) and that seen in the 2022 lab simulant drilling. Drill safety torque limits were exceeded multiple times resulting in drill stops downhole. These freezes then required external added torques (with a pipe wrench) to resume rotation, to unstick the drill for withdrawal. To prevent this choking and binding behavior we found that more-frequent cuttings removal was necessary, e.g., reducing the “drill bite” size from the nominal 10 cm to 2 cm per bite --bringing the auger up to the surface more frequently, as seen in Bishop Site 1C Hole 2 (Fig.2). This permitted slow progress without drill binding and without external interventions. Conversely, TRIDENT drilling in the more porous pumice target material showed no cuttings buildup issue, and single bites as large as 40 cm were demonstrated. Discussion: We observed that TRIDENT easily penetrated unconsolidated heterogeneous soils (both above the active layer boundary at Haughton and previously in the Atacama). Cemented or consolidated targets that were cuttings-permeable (icy impact breccia, pumice) required more energy applied and percussion. However, in non-cuttings-permeable targets (welded microporous tuff, cemented simulants, boulder) TRIDENT was observed to be prone to excessive cuttings accumulation leading to choking/binding faults and stalling. The wedge cutting bit, used by TRIDENT in field tests and in its flight versions, pulverizes the target rock and creates fine cuttings that ideally are transported up the auger spirals for removal. In porous, fractured or vesicular target materials (such as at the Bishop pumice site) a significant portion of the cuttings are pushed aside, but for non-fractured, microporous targets the cuttings remain in the borehole and accumulate. Rock powder is relatively incompressible as a working fluid at only 100-200N downward force (TRIDENT limits) and hence eventual drilling progress slows or stops. Our recommended strategy for improving TRIDENT cuttings removal in massive target units with low cuttings-permeability is to reduce TRIDENT bite sizes when encountering these units, from 10cm to as little as 1-2cm, to effectively bail the accumulating cuttings. This approach was demonstrated to reduce choking and allowed slow progress to continue in cuttings-impermeable microporous target units (viz. the Bishop tuff in our September 2023 tests or cemented simulants in 2022 ambient tests).

robotic drilling↗
NASA NTRSDate not supplied

Mineralogical, Elemental, and Tomographic Reconnaissance Investigation for CLPS (METRIC): A Payload Designed for Exploration of Terrestrial Planetary Bodies

Geological materials (indeed, all solid objects) are characterized by their crystal structure, elemental composition, and morphology. The Mineralogical, Elemental, and Tomographic Reconnaissance Investigation for CLPS (METRIC) instrument suite quantifies all three. These measurements address fundamental science questions (e.g., the origin and evolution of planetary bodies) and support the human exploration of space (e.g., the characterization of regolith for ISRU and the constraint of its geotechnical properties). METRIC comprises an X-ray Diffraction/X-ray Fluorescence instrument (XRD: mineral structure and XRF: elemental composition), an X-ray micro-Computed Tomography instrument (XCT: 3D internal micromorphology), and a hyperspectral imaging infrared spectrometer (IRS) to provide local/regional mineralogic context for these measurements. METRIC XRD/F draws heritage from the highly successful Mars Science Laboratory CheMin instrument. The METRIC XRD/F employs two separate sample cells, one optimized for XRD and one for XRF, resulting in more rapid XRD analysis (tens of minutes vs. tens of hours for CheMin) and an orders-of-magnitude improvement in XRF detection. XCT has not been deployed in space, so the METRIC XCT represents a new capability for solar system exploration. The XCT uses the same basic high-TRL components as METRIC XRD/F, decreasing its development cost for flight. The METRIC IRS is a derivative of the NASA Earth Science Technology Office funded Hyperspectral Thermal Imager instrument and utilizes the NASA Technology Transfer Program to incorporate a commercial-of-the-shelf infrared camera ruggedized for space by NASA Marshall Space Flight Center. The IRS spectral range (8–14 µm) and resolution (10.8 cm -1 ) are tailored to quantify mineralogy in rocks using their characteristic Reststrahlen bands and to characterize mineralogy of soils using the position of the Christensen Feature. The METRIC payload is currently designed for deployment to the Moon on a Commercial Lunar Payload Services (CLPS) mission, where the XRD/F and XCT would be located on a lander and the IRS would be on deployed on a companion rover to evaluate the mineralogical diversity of the landing site. A pneumatic drill designed by Honeybee Robotics would excavate regolith up to 50 cm below the lander and deliver multiple aliquots of regolith to the XRD/F and XCT. The METRIC payload could also be deployed on a rover. In this case, a sample handling system on a robotic arm could scoop regolith and/or drill rocks and deliver powder to the XRD/F and XCT located in the rover’s interior. Alternatively, METRIC instruments could be used singly or in combination on human space missions. The XRD/F and XCT could be used to characterize samples in a rover or in a science laboratory within a habitat. These data could help astronauts identify resource-enriched rocks and regolith and triage geologic samples to return samples of high interest for analysis in terrestrial laboratories. The IRS could be attached to a human-navigated rover to collect mineralogical data along a traverse and identify high-priority science samples.

E. B. Rampe↗
NASA NTRS2006

Drilling Automation Tests At A Lunar/Mars Analog Site

Future in-situ lunar/martian resource utilization and characterization, as well as the scientific search for life on Mars, will require access to the subsurface and hence drilling. Drilling on Earth is hard - an art form more than an engineering discipline. The limited mass, energy and manpower in planetary drilling situations makes application of terrestrial drilling techniques problematic. The Drilling Automation for Mars Exploration (DAME) project is developing drilling automation and robotics for projected use in missions to the Moon and Mars in the 2011-15 period. This has been tested recently, drilling in permafrost at a lunar/martian analog site (Haughton Crater, Devon Island, Canada).

Glass, B.↗
NASA NTRS2010

Mechanism for Particle Transport and Size Sorting via Low-Frequency Vibrations

There is a need for effective sample handling tools to deliver and sort particles for analytical instruments that are planned for use in future NASA missions. Specifically, a need exists for a compact mechanism that allows transporting and sieving particle sizes of powdered cuttings and soil grains that may be acquired by sampling tools such as a robotic scoop or drill. The required tool needs to be low mass and compact to operate from such platforms as a lander or rover. This technology also would be applicable to sample handling when transporting samples to analyzers and sorting particles by size.

Sherrit, Stewart↗
NASA NTRS2013

Dreaming on Mars: How Curiosity Performs Actuator Warm-Up While Sleeping

Before the Curiosity rover can perform its science activities for the day, such as driving, moving its robotic arm, or drilling, it first has to ensure that its actuators are within their allowable flight temperatures (AFTs). When the rover is awake, flight software uses heaters to warm up and maintain thermal zones at operational temperatures. However, Curiosity spends about 70% of its time sleeping, with the flight computer off, in order to conserve energy. Dream Mode is a special behavior that allows the rover to execute warm-up activities while sleeping. Using Dream Mode, actuators can be warmed up to their AFTs before the flight computer wakes up and uses them - saving power and improving operational efficiency. This paper describes the motivation behind Dream Mode, how it was implemented and tested on Curiosity, and the challenges and lessons learned along the way.

fault protection↗
NASA NTRS2010

Mars Science Laboratory Drill

The Drill for the Mars Science Laboratory mission is a rotary-percussive sample acquisition device with an emphasis on toughness and robustness to handle the harsh environment on Mars. The unique challenges associated with autonomous drilling from a mobile robot are addressed. A highly compressed development schedule dictated a modular design architecture that satisfies the functional and load requirements while allowing independent development and testing of the Drill subassemblies. The Drill consists of four actuated mechanisms: a spindle that rotates the bit, a chuck that releases and engages bits, a novel voice-coil-based percussion mechanism that hammers the bit, and a linear translation mechanism. The Drill has three passive mechanisms: a replaceable bit assembly that acquires and collects sample, a contact sensor / stabilizer mechanism, and, lastly a flex harness service loop. This paper describes the various mechanisms that makeup the Drill and discusses the solutions to their unique design and development challenges.

Okon, Avi B.↗
NASA NTRS2004

Mars Deep Drill - A Mission Concept for the Next Decade

In the not too distant future, NASA may consider sending a robotic mission to Mars to drill tens of meters below the surface to search for evidence of life. Mars science groups, including NASA's Mars Exploration Program Analysis Group (MEPAG), have repeatedly concluded that in situ scientific analyses of samples from significant depths below the surface are important for understanding Mars in general and for searching for evidence of past or present life in particular. Furthermore, there are several ongoing technology developments for relevant drills, the readiness of which seem promising for use by the second decade of this century. By accessing and analyzing material from tens of meters below the surface, in situ science investigations may help answer some important questions about Mars, in particular about whether life ever existed there. Drilling is a proven technique for terrestrial applications that appears viable for accessing Martian subsurface samples and bringing them to the surface for analysis by a variety of instruments. An end-to-end mission concept for a Deep Drill mission has been developed and appears feasible for launch in the next decade.

Mars↗
NASA NTRS2012

The Mojave Subsurface Bio-Geochemistry Explorer (MOSBE)

The MOSBE Team has developed a terrestrial field campaign to explore two subsurface biological habitats under the Mojave Desert. This field campaign will not only help us understand terrestrial desert biology, but also will develop methodologies and strategies for potential future Mars missions that would seek to explore the Martian subsurface. We have proposed to the ASTEP program to integrate a suite of field demonstrated instruments with a 20 m subsurface drill as a coherent unit, the Mojave Subsurface Bio-geochemistry Explorer. The ATK Space Modular Planetary Drill System (MPDS) requires no drilling fluid, which allows aseptic sampling, can penetrate lithic ground up to 20 meters of depth, and utilizes less than 100 Watts throughout the entire depth. The drill has been developed and demonstrated in field testing to a depth of 10 meters in Arizona, December 2002. In addition to caching a continuous core throughout the drilling depth, it also generates and caches cuttings and fines that are strata-graphically correlated with the core. As a core segment is brought to the surface, it will be analyzed for texture and structure by a color microscopic imager and for relevant chemistry and mineralogy with a UV fluorescence/Raman spectrometer. Organic and soluble ionic species will be identified through two instruments -- a microcapillary electrophoresis, and an ion trap mass spectrometer that have been developed under PIDDP, ASTID and MIDP funding.

robotic subsurface drilling↗
NASA NTRSDate not supplied

Field Tests With Trident Drill in Bishop Tuff Help Prepare for Future Missions to Moon and Mars

We performed drilling in volcanic deposits near Bishop California using an engineering model of the Honeybee Robotics TRIDENT (The Regolith and Ice Drill for Exploration of New Terrains) drill [1] a rotary percussive 1-meter class drill that is carried on the PRIME1and VIPER (Volatiles Investigating Polar Exploration Rover)[2] missions that launch in 2024. A similar drilling system was planned for the proposed Icebreaker Discovery class mission to Mars [3] and the Mars Life Explorer mission recommended by the 2020 Decadal Survey of planetary science [4]. The objectives of the project were (1) to use data collected by the drill for operational purposes as a probe of subsurface material properties in formations that are analogous to those that may be encountered on planetary surfaces; (2) correlate subsurface structures with those deduced from Ground Penetrating Radar (GPR); and (3) inspect the boreholes after they were drilled to test PERISCOPE (Probe for Exploring Regolith and Ice by Subsurface Classification of Organics, polycyclic aromatic hydrocarbons (PAHs), and Elements), a newly developed downhole UV fluorescence spectrometer [5].

Carol R. Stoker↗
NASA NTRSDate not supplied

Quasi-Wireless Capacitive Power Transfer with Secure Data Acquisition for Robotic Systems in Space Infrastructure

Space exploration is dependent on robotic systems that utilize end-effectors to collect samples, probe surfaces, and manipulate objects. These systems can rarely be designed to do all three, forcing engineers to make tradeoffs based on the mission parameters - i.e. should the robotic appendage have a claw, drill, or shovel, and which would be best suited for the mission? Additionally, as more industrial and government entities partake in space exploration, data protection is needed in transit and at rest. To address these challenges, we present a first-of-its- kind robotic linkage that has no wiring between the joints. Instead, quasi-wireless capacitive (QWiC) power transfer is used to send energy over the robot’s chassis without a return wire. This enables the system to be completely modular through the use of single-contact permanent magnet connections, allowing rapid alterations in joint kinematics and/or the changing of end-effectors. For collecting sensor data from the robotic arm and to send remote commands to it, we use a Supervisory Control and Data Acquisition (SCADA) system. Data transmission relies on MQTT and OPC UA communication protocols with encryption. The SCADA server logs and archives sensor data and provides the functionality for authorized users to send remote commands from SCADA client(s) to motors. A SCADA client can be any of the web browsers that connects to a server via a secure communication channel using SSL protocol. Furthermore, as an extra data protection mechanism, we inject noise to the sensor data traffic, which obfuscates the timing of sensor data packets and adds confusion about which data packet represents which motor.

wireless sensor networks↗
NASA NTRS2013

Swamp Works- Multiple Projects

My Surface Systems internship over the summer 2013 session covered a broad range of projects that ranged multiple aspects and fields of engineering and technology. This internship included a project to create a command center for a 120 ton regolith bin, a design and build for a blast shield to add further protection for the Surface Systems engineers, a design for a portable four monitor hyper wall that can extend as large as needed, research and programming a nano drill for a next generation robot, and social media tasks including the making of videos, posting to social networking websites and implementation of a new weekly outreach program to help spread the word about the Swamp Works laboratory. The objectives for the command center were to create a central computer controlled area for the still in production lunar regolith bin. It needed to be easy to use and the operating systems had to be Linux. The objectives for the hyper wall were to build a mobile transport of monitors that could potentially attach to one another. It needed to be light but sturdy, and have the ability to last. The objectives for the blast shield included a robust design that could withstand a small equipment malfunction, while also being convenient for use. The objectives for the nano-drill included the research and implementation of programming for vertical and horizontal movement. The hyper wall and blasts shield project were designed by me in the Pro/Engineer/Creo2 software. Each project required a meeting with the Swamp Works engineers and was declared successful.

Carelli, Jonathan M.↗
NASA NTRS2012

Mars Science Laboratory Drill

This drill (see Figure 1) is the primary sample acquisition element of the Mars Science Laboratory (MSL) that collects powdered samples from various types of rock (from clays to massive basalts) at depths up to 50 mm below the surface. A rotary-percussive sample acquisition device was developed with an emphasis on toughness and robustness to handle the harsh environment on Mars. It is the first rover-based sample acquisition device to be flight-qualified (see Figure 2). This drill features an autonomous tool change-out on a mobile robot, and novel voice-coil-based percussion. The drill comprises seven subelements. Starting at the end of the drill, there is a bit assembly that cuts the rock and collects the sample. Supporting the bit is a subassembly comprising a chuck mechanism to engage and release the new and worn bits, respectively, and a spindle mechanism to rotate the bit. Just aft of that is a percussion mechanism, which generates hammer blows to break the rock and create the dynamic environment used to flow the powdered sample. These components are mounted to a translation mechanism, which provides linear motion and senses weight-on-bit with a force sensor. There is a passive-contact sensor/stabilizer mechanism that secures the drill fs position on the rock surface, and flex harness management hardware to provide the power and signals to the translating components. The drill housing serves as the primary structure of the turret, to which the additional tools and instruments are attached. The drill bit assembly (DBA) is a passive device that is rotated and hammered in order to cut rock (i.e. science targets) and collect the cuttings (powder) in a sample chamber until ready for transfer to the CHIMRA (Collection and Handling for Interior Martian Rock Analysis). The DBA consists of a 5/8-in. (.1.6- cm) commercial hammer drill bit whose shank has been turned down and machined with deep flutes designed for aggressive cutting removal. Surrounding the shank of the bit is a thick-walled maraging steel collection tube allowing the powdered sample to be augured up the hole into the sample chamber. For robustness, the wall thickness of the DBA was maximized while still ensuring effective sample collection. There are four recesses in the bit tube that are used to retain the fresh bits in their bit box. The rotating bit is supported by a back-to-back duplex bearing pair within a housing that is connected to the outer DBA housing by two titanium diaphragms. The only bearings on the drill in the sample flow are protected by a spring-energized seal, and an integrated shield that diverts the ingested powdered sample from the moving interface. The DBA diaphragms provide radial constraint of the rotating bit and form the sample chambers. Between the diaphragms there is a sample exit tube from which the sample is transferred to the CHIMRA. To ensure that the entire collected sample is retained, no matter the orientation of the drill with respect to gravity during sampling, the pass-through from the forward to the aft chamber resides opposite to the exit tube.

Okon, Avi B.↗
NASA NTRS2014

Ultrasonic/Sonic Jackhammer

The invention provides a novel jackhammer that utilizes ultrasonic and/or sonic vibrations as source of power. It is easy to operate and does not require extensive training, requiring substantially less physical capabilities from the user and thereby increasing the pool of potential operators. An important safety benefit is that it does not fracture resilient or compliant materials such as cable channels and conduits, tubing, plumbing, cabling and other embedded fixtures that may be encountered along the impact path. While the ultrasonic/sonic jackhammer of the invention is able to cut concrete and asphalt, it generates little back-propagated shocks or vibrations onto the mounting fixture, and can be operated from an automatic platform or robotic system. PNEUMATICS; ULTRASONICS; IMPACTORS; DRILLING; HAMMERS BRITTLE MATERIALS; DRILL BITS; PROTOTYPES; VIBRATION

Bar-Cohen, Yoseph↗
NASA NTRS2013

Microgravity Drill and Anchor System

This work is a method to drill into a rock surface regardless of the gravitational field or orientation. The required weight-on-bit (WOB) is supplied by a self-contained anchoring mechanism. The system includes a rotary percussive coring drill, forming a complete sampling instrument usable by robot or human. This method of in situ sample acquisition using micro - spine anchoring technology enables several NASA mission concepts not currently possible with existing technology, including sampling from consolidated rock on asteroids, providing a bolt network for astronauts visiting a near-Earth asteroid, and sampling from the ceilings or vertical walls of lava tubes and cliff faces on Mars. One of the most fundamental parameters of drilling is the WOB; essentially, the load applied to the bit that allows it to cut, creating a reaction force normal to the surface. In every drilling application, there is a minimum WOB that must be maintained for the system to function properly. In microgravity (asteroids and comets), even a small WOB could not be supported conventionally by the weight of the robot or astronaut. An anchoring mechanism would be needed to resist the reactions, or the robot or astronaut would push themselves off the surface and into space. The ability of the system to anchor itself to a surface creates potential applications that reach beyond use in low gravity. The use of these anchoring mechanisms as end effectors on climbing robots has the potential of vastly expanding the scope of what is considered accessible terrain. Further, because the drill is supported by its own anchor rather than by a robotic arm, the workspace is not constrained by the reach of such an arm. Yet, if the drill is on a robotic arm, it has the benefit of not reflecting the forces of drilling back to the arm s joints. Combining the drill with the anchoring feet will create a highly mobile, highly stable, and highly reliable system. The drilling system s anchor uses hundreds of microspine toes that independently find holes and ledges on a rock to create an anchor. Once the system is anchored, a linear translation mechanism moves the drill axially into the surface while maintaining the proper WOB. The linear translation mechanism is composed of a ball screw and stepper motor that can translate a carriage with high precision and applied load. The carriage slides along rails using self-aligning linear bearings that correct any axial misalignment caused by bending and torsion. The carriage then compresses a series of springs that simultaneously transmit the load to the drill along the bit axis and act as a suspension that compensates for the vibration caused by percussive drilling. The drill is a compacted, modified version of an off-the-shelf rotary percussive drill, which uses a custom carbide-tipped coring bit. By using rotary percussive drilling, the drill time is greatly reduced. The percussive action fractures the rock debris, which is removed during rotation. The final result is a 0.75-in. (.1.9- cm) diameter hole and a preserved 0.5- in. (.1.3-cm) diameter rock core. This work extends microspine technology, making it applicable to astronaut missions to asteroids and a host of robotic sampling concepts. At the time of this reporting, it is the first instrument to be demonstrated using microspine anchors, and is the first self-contained drill/anchor system to be demonstrated that is capable of drilling in inverted configurations and would be capable of drilling in microgravity.

Parness, Aaron↗
NASA NTRS2013

The Sample Handling System for the Mars Icebreaker Life Mission: from Dirt to Data

The Mars icebreaker life mission will search for subsurface life on mars. It consists of three payload elements: a drill to retrieve soil samples from approx. 1 meter below the surface, a robotic sample handling system to deliver the sample from the drill to the instruments, and the instruments themselves. This paper will discuss the robotic sample handling system.

Martian Arctic↗