Results for “Regolith Construction” — Page 20

NASA NTRS2014

The Vacuum-Compacted Regolith Gripping Mechanism and Unmanned Flights via Quad-Rotors

During the course of the Kennedy Space Center Summer Internship, two main experiments were performed: The Vacuum-Compacted Regolith Gripping Mechanism and Unmanned Flights via Quad-copters. The objectives of the Vacuum-Compacted Regolith Gripping Mechanism, often abbreviated as the Granular Gripper, are to exhibit Space Technology, such as a soft robotic hand, lift different apparatuses used to excavate regolith, and conserve energy while executing its intended task. The project is being conducted to test how much weight the Granular Gripper can hold. With the use of an Animatronic Robotic Hand, Arduino Uno, and other components, the system was calibrated before actually conducting the intended weight test. The maximum weight each finger could hold with the servos running, in the order of pinky, ring, middle, and index fingers, are as follows: 1.340N, 1.456 N, 0.9579 N, and 1.358 N. Using the small vacuum pump system, the maximum weight each finger could hold, in the same order, was: 4.076 N, 6.159 N, 5.454 N, and 4.052 N. The maximum torques on each of the fingers when the servos were running, in the same respective order, was: 0.0777 Nm, 0.0533 Nm, 0.0648 Nm, and 0.0532 Nm. The maximum torques on the individual fingers, when the small vacuum pump was in effect, in the same order as above, was: 0.2318 Nm, 0.3032 Nm, 0.2741 Nm, and 0.1618 Nm. In testing all the fingers with the servos running, the total weight was 5.112 N and the maximum torque on the all the fingers was 0.2515 Nm. However, when the small vacuum pump system was used, the total weight was 19.741 N and the maximum torque on the all the fingers was 0.9713 Nm. The conclusion that was drawn stated that using the small vacuum pump system proved nearly 4 times more effective when testing how much weigh the hand could hold. The resistance provided by the compacted sand in the glove allowed more weight to be held by the hand and glove. Also, when the servos turned off and the hand still retaining its position, energy is being saved because the vacuum created the same resistance the running servos did without using power. The Unmanned Flights via Quad-rotors are built because multi-rotor dynamics are an important starting point and fair analog for space craft control systems and they make good terrestrial development platforms for various aspects of control for space crafts. The project is being conducted to see what the thrust response is going to be when a pulse width modulation command is sent to the control system since the quad-rotors are PWM controlled. A simulation environment in constructed so that one can quickly iterate and test different designs such as control systems, PID control vs. LDR control, and state estimation. Using two DIY Quad Kits, APM 2.6, testing apparatus (called a data acquisition system) to test the quad-rotors, and a simulation program such as Simulink, two quad-rotors are built and controlled via a simulation program, which is designed to be as realistic as possible and not idealistic. Due to the quad-rotors not being completely built nor ready for testing, there are no results or conclusions to report.

Granular Gripper↗

NASA NTRS2026

High Temperature Dielectric Properties and Differential Scanning Calorimetry of Lunar Simulants

To guide development of microwave process technology that could be used during in situ construction on the Moon, we measured the high-temperature basic dielectric properties (εʹ and εʺ) of 17 lunar simulants and related materials. In order to confidently use these data one needs to understand the data’s strengths and weaknesses. Therefore, a goal of this publication is to provide insights into the comparative effects of sample composition, pre-treatments, experimental variables, high temperatures, and other factors on the measured response. The dielectric measurements were performed using the cavity perturbation method over a temperature range between room temperature to 1000 °C, or higher, and provided the real and imaginary components of permittivity at six frequencies. The utility of the original values was limited by the varying density of the pellets used in the measurement. Therefore, all of the εʹ and εʺ measurements at the frequency of 2466 MHz have been scaled to a constant density, 1.75 g/cm 3 . Here the data are presented as graphs chosen to aid analysis within and across simulant groups. To gain additional insight into the processes happening at the elevated temperatures in the dielectric measurements, heat capacity data was obtained using differential scanning calorimetry (DSC) on several of the simulant materials. Our data show that over the frequency range 397 MHz – 2985 MHz a material’s behavior does not greatly change, as compared to the scale of differences observed between lunar mare and highland simulants at high temperatures. For example at 1000 °C, the mare simulant JSC-1A absorbs 10 times more power than the highland simulant NUW-LHT-5M. We observe that as melting temperatures are reached both permittivity and dielectric loss rise non-linearly, helping to explain thermal runaway during microware heating. Our data show that even less than a few weight % of many non-lunar minerals, and the use of mixtures in simulants can affect the dielectric behavior at higher temperatures. A comparison of our results with published dielectric data for Apollo samples and with remote sensing of the Moon supports the conclusion the simulants and lunar material at room temperature have very similar dielectric values.

Differential Scanning Calorimetry↗