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At least 19 records

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NASA NTRS2006

Reaction force of percussive corer, rotary-friction corer, and rotary-percussive corer

Future NASA exploration missions will increasingly require sampling, in-situ analysis and possibly the return of material to Earth for laboratory analysis. To address these objective, effective and optimized drilling techniques are needed. This requires developing comprehensive tools to be able to determine analytically what takes place during the operation and what are the control parameters that can be enhanced. In this study, three types of coring techniques were studied and were identified as potential candidates for operation from a possible future Mars Sample Return (MSR) mission rover. These techniques include percussive, rotary-friction, and rotary-percussive coring. Theoretical models were developed to predict the dynamic reaction forces transmitted from these three types of corers to the robotic arms that hold them. The predicted reaction forces will then be used in a dynamic simulation environment to simulate a representative corer tool to obtain a best estimate of a tool that can be operated from a small rover. The predicted dynamic reaction forces will be presented in this paper.

Ultrasonic Percussive corer↗

NASA NTRS2012

Reducing Extra-Terrestrial Excavation Forces with Percussion

High launch costs and mission requirements drive the need for low mass excavators with mobility platforms, which in turn have little traction and excavation reaction capacity in low gravity environments. This presents the need for precursor and long term future missions with low mass robotic mining technology to perform In-Situ Resource Utilization (ISRU) tasks. This paper discusses a series of experiments that investigate the effectiveness of a percussive digging device to reduce excavation loads and thereby the mass of the excavator itself. The goal of percussive excavation is to fluidize dry regolith in front of the leading edge of the tool by mechanically separating the microscopic interlocking grains resulting in a reduced force needed to shear the soil. There are several variables involved with this technique; this experiment varied: Impact energy, frequency, and excavation speed and held constant: impact direction, depth of cut, angle of tool, and soil bulk density. The test apparatus consisted of an aluminum truss bridge with a central pivoting arm. Attached to the arm was a winch with a load cell in line that recorded the tension in the cable and therefore the excavation load. The arm could be adjusted for excavation depth which was recorded along with the arm angle relative to the bridge. A percussive mechanism and 30" wide pivoting bucket were attached at the end of the arm simulating a basic backhoe with a percussion direction tangent to the direction of . movement. Internally the mechanism used a set of die springs and barrel cam to produce the percussive blow. By changing the springs and the speed of the motor the impact energy and frequency of percussion could be varied independently. Impact energies from 11.2J to 30.5J and frequencies from 0 BPM to 700 BPM were investigated. A reduction in excavation force of as much as 51% was achieved in this experimental investigation. Smaller percussive digging implements, tested by others, have achieved a reduction of as much as 72%. This paper will examine the effects of impact energy, frequency, scaling and their effect on excavation forces in a dry granular material such as lunar regolith. The past several years have shown an increasing interest in mining space resources both for exploration and commercial enterprises. This work studied the benefits and risks of percussive excavation and prelimin~ry results indicate that this technique may become an enabling technology for extra-terrestrial excavation of regolith and ice.

Schuler, Jason↗

NASA NTRS2014

Development of the RANCOR Rotary-Percussive Coring System for Mars Sample Return

A RANCOR drill was designed to fit a Mars Exploration Rover (MER) class vehicle. The low mass of 3 kg was achieved by using the same actuator for three functions: rotation, percussions, and core break-off. Initial testing of the drill exposed an unexpected behavior of an off-the-shelf sprag clutch used to couple and decouple rotary-percussive function from the core break off function. Failure of the sprag was due to the vibration induced during percussive drilling. The sprag clutch would back drive in conditions where it was expected to hold position. Although this did not affect the performance of the drill, it nevertheless reduced the quality of the cores produced. Ultimately, the sprag clutch was replaced with a custom ratchet system that allowed for some angular displacement without advancing in either direction. Replacing the sprag with the ratchet improved the collected core quality. Also, premature failure of a 300-series stainless steel percussion spring was observed. The 300-series percussion spring was ultimately replaced with a music wire spring based on performances of previously designed rotary-percussive drill systems.

Paulsen, Gale↗

NASA NTRS2012

Percussive Augmenter of Rotary Drills (PARoD)

Increasingly, NASA exploration mission objectives include sample acquisition tasks for in-situ analysis or for potential sample return to Earth. To address the requirements for samplers that could be operated at the conditions of the various bodies in the solar system, a piezoelectric actuated percussive sampling device was developed that requires low preload (as low as 10N) which is important for operation at low gravity. This device can be made as light as 400g, can be operated using low average power, and can drill rocks as hard as basalt. Significant improvement of the penetration rate was achieved by augmenting the hammering action by rotation and use of a fluted bit to provide effective cuttings removal. Generally, hammering is effective in fracturing drilled media while rotation of fluted bits is effective in cuttings removal. To benefit from these two actions, a novel configuration of a percussive mechanism was developed to produce an augmenter of rotary drills. The device was called Percussive Augmenter of Rotary Drills (PARoD). A breadboard PARoD was developed with a 6.4 mm (0.25 in) diameter bit and was demonstrated to increase the drilling rate of rotation alone by 1.5 to over 10 times. Further, a large PARoD breadboard with 50.8 mm diameter bit was developed and its tests are currently underway. This paper presents the design, analysis and preliminary test results of the percussive augmenter.

percussive augmenter↗

NASA NTRS2008

Percussive Excavation of Lunar Soil

It has been suggested using a percussive motion could improve the efficiency of excavation by up to 90%. If this is proven to be true it would be very beneficial to excavation projects on the Moon and Mars. The purpose of this study is to design, build and test a percussive tool which could dig a trench and then compare this data against that of a non-percussive tool of the same shape and size. The results of this test thus far have been inconclusive due to malfunctions in the testbed and percussive bucket; however, experimental results from small scale experiments confirm this higher efficiency and support further testing.

Whittaker, Matthew P.↗

NASA NTRS2012

Deep Drilling and Sampling via the Wireline Auto-Gopher Driven by Piezoelectric Percussive Actuator and EM Rotary Motor

The ability to penetrate subsurfaces and perform sample acquisition at depths of meters is critical for future NASA in-situ exploration missions to bodies in the solar system, including Mars and Europa. A corer/sampler was developed with the goal of acquiring pristine samples by reaching depths on Mars beyond the oxidized and sterilized zone. To developed rotary-hammering coring drill, called Auto-Gopher, employs a piezoelectric actuated percussive mechanism for breaking formations and an electric motor rotates the bit to remove the powdered cuttings. This sampler is a wireline mechanism that is incorporated with an inchworm mechanism allowing thru cyclic coring and core removal to reach great depths. The penetration rate is being optimized by simultaneously activating the percussive and rotary motions of the Auto-Gopher. The percussive mechanism is based on the Ultrasonic/Sonic Drill/Corer (USDC) mechanism that is driven by piezoelectric stack and that was demonstrated to require low axial preload. The Auto-Gopher has been produced taking into account the a lessons learned from the development of the Ultrasonic/Sonic Gopher that was designed as a percussive ice drill and was demonstrated in Antarctica in 2005 to reach about 2 meters deep. A field demonstration of the Auto-Gopher is currently being planned with objective of reaching as deep as 3 to 5 meters in tufa subsurface.

Auto-Gopher↗

NASA NTRS2013

Percussive Augmenter of Rotary Drills (PARoD)

Increasingly, NASA exploration mission objectives include sample acquisition tasks for in-situ analysis or for potential sample return to Earth. To address the requirements for samplers that could be operated at the conditions of the various bodies in the solar system, a piezoelectric actuated percussive sampling device was developed that requires low preload (as low as 10 N) which is important for operation at low gravity. This device can be made as light as 400 g, can be operated using low average power, and can drill rocks as hard as basalt. Significant improvement of the penetration rate was achieved by augmenting the hammering action by rotation and use of a fluted bit to provide effective cuttings removal. Generally, hammering is effective in fracturing drilled media while rotation of fluted bits is effective in cuttings removal. To benefit from these two actions, a novel configuration of a percussive mechanism was developed to produce an augmenter of rotary drills. The device was called Percussive Augmenter of Rotary Drills (PARoD). A breadboard PARoD was developed with a 6.4 mm (0.25 in) diameter bit and was demonstrated to increase the drilling rate of rotation alone by 1.5 to over 10 times. The test results of this configuration were published in a previous publication. Further, a larger PARoD breadboard with a 50.8 mm (2.0 in) diameter bit was developed and tested. This paper presents the design, analysis and test results of the large diameter bit percussive augmenter.

piezoelectric actuation↗

NASA NTRS2010

Results from Testing of Two Rotary Percussive Drilling Systems

The developmental test program for the MSL (Mars Science Laboratory) rotary percussive drill examined the e ect of various drill input parameters on the drill pene- tration rate. Some of the input parameters tested were drill angle with respect to gravity and percussive impact energy. The suite of rocks tested ranged from a high strength basalt to soft Kaolinite clay. We developed a hole start routine to reduce high sideloads from bit walk. The ongoing development test program for the IMSAH (Integrated Mars Sample Acquisition and Handling) rotary percussive corer uses many of the same rocks as the MSL suite. An additional performance parameter is core integrity. The MSL development test drill and the IMSAH test drill use similar hardware to provide rotation and percussion. However, the MSL test drill uses external stabilizers, while the IMSAH test drill does not have external stabilization. In addition the IMSAH drill is a core drill, while the MSL drill uses a solid powdering bit. Results from the testing of these two related drilling systems is examined.

Kriechbaum, Kristopher↗

NASA NTRS2016

The Auto-Gopher: A Wireline Rotary-Percussive Deep Sampler

Accessing regions on planetary bodies that potentially preserved biosignatures or are presently habitable is vital to meeting NASA solar system "Search for Life" exploration objectives. To address these objectives, a wireline deep rotary-percussive corer called Auto-Gopher was developed. The percussive action provides effective material fracturing and the rotation provides effective cuttings removal. To increase the drill's penetration rate, the percussive and rotary motions are operated simultaneously. Initially, the corer was designed as a percussive mechanism for sampling ice and was demonstrated in 2005 in Antarctica reaching about 2 m deep. The lessons learned suggested the need to use a combination of rotation and hammering to maximize the penetration rate. This lesson was implemented into the Auto-Gopher-I deep drill which was demonstrated to reach 3-meter deep in gypsum. The average drilling power that was used has been in the range of 100-150 Watt, while the penetration rate was approximately 2.4 m/hr. Recently, a task has started with the goal to develop Auto-Gopher-II that is equipped to execute all the necessary functions in a single drilling unit. These functions also include core breaking, retention and ejection in addition drilling. In this manuscript, the Auto-Gopher-II, its predecessors and their capability are described and discussed.

drilling↗

NASA NTRS2016

Auto-Gopher-2 - Wireline Deep Sampler Driven by Percussive Piezoelectric Actuator and Rotary EM Motors

Two of the key purposes of future NASA’s solar system exploration of planetary bodies are the search for potentially preserved bio-signatures and for habitable regions. To address these objectives, a biologically inspired wireline deep rotary-percussive drill, called Auto-Gopher, has been developed. This drill employs a piezoelectric-actuated percussive mechanism for generating impulsive stresses and breaking formations, and an electric motor to rotate the bit to break material and remove the cuttings. Initially, the drill was designed as percussive mechanism for sampling ice and was demonstrated in 2005 at Lake Vida, Antarctica, reaching about 2 meters depth. The lessons learned suggested there is a need to augment the percussive action with bit rotation in order to maximize the penetration rate. The first generation implementation of the rotary augmentation was focused on the demonstration of this capability. In 2012, during the 3-day field test, the drill reached a 3-meter deep in gypsum. A separate mechanism was used to break and remove the cores. The average drilling power consumption was in the range of 100-150 Watts, while the rate of penetration was approximately 2.4 meters per hour. Currently under development is the second-generation drill, called Auto-Gopher-2. The drill will be fully autonomous. In this paper, the capabilities that are being integrated into the Auto-Gopher-2 are described and discussed.

Auto-Gopher Drill↗

NASA NTRS1999

Unique Aeolian Transport Mechanisms on Mars: Respective Roles of Percussive and Repercussive Grain Populations in the Sediment Load

Experiments show that when sand-size grains impact a sediment surface with energy levels commensurate for Mars, small craters are formed by the ejection of several hundred grains from the bed. The experiments were conducted with a modified crossbow in which a sand-impelling sabot replaced the bolt-firing mechanism. Individual grains of sand could be fired at loose sand targets to observe ballistic effects unhindered by aerodynamic mobilization of the bed. Impact trajectories simulated the saltation process on dune surfaces. Impact craters were not elongated despite glancing (15 deg.) bed impact; the craters were very close to being circular. High-speed photography showed them to grow in both diameter and depth after the impactor had ricochetted from the crater site. The delayed response of the bed was "explosive" in nature, and created a miniature ejecta curtain spreading upward and outward for many centimeters for impact of 100-300 um-diameter grains into similar material. This behavior is explained by deposition of elastic energy in the bed by the "percussive" grain. Impact creates a subsurface stress regime or "quasi-Boussinesq" compression field. Elastic recovery of the bed occurs by dilatancy; shear stresses suddenly convert the grains to open packing and they consequently become forcefully ejected from the site. Random jostling of the grains causes radial homogenization of stress vectors and a resulting circular crater. A stress model based on repercussive bed dilatancy and interparticle adhesive forces (for smaller grains) predicts, to first order, the observed crater volumes for various impact conditions. On earth, only a few grains are mobilized by a percussive saltating grain; some grains are "knudged" along the ground, and some are partly expelled on short trajectories. These motions constitute reptation transport. On Mars, saltation and reptation become indistinct: secondary or "repercussive" trajectories have sufficient vertical impulse to create a dense saltation population of many tens or hundreds of grains for each single high-speed saltation percussion of the bed. Impact cascading will lead to near-surface distortion of the boundary layer, and choked flow formed by a dense "slurry" of sand, with the majority of grains mobilized by repercussive forces rather than by aerodynamic lift. This proceeds until a fully-matured transport layer imposes self-limitations as grain-population density constrains the free-path motion of individial grains.

Marshall, John R.↗

NASA NTRS1999

Unique Aeolian Transport Mechanisms on Mars: Respective Roles of Percussive and Repercussive Grain Populations in the Sediment Load

Experiments show that when sand-size grains impact a sediment surface with energy levels commensurate for Mars, small craters are formed by the ejection of several hundred grains from the bed. The experiments were conducted with a modified crossbow in which a sand-impelling sabot replaced the bolt-firing mechanism. Individual grains of sand could be fired at loose sand targets to observe ballistic effects unhindered by aerodynamic mobilization of the bed. Impact trajectories simulated the saltation process on dune surfaces. Impact craters were not elongated despite glancing (15 deg.) bed impact; the craters were very close to being circular. High-speed photography showed them to grow in both diameter and depth after the impactor had ricochetted from the crater site. The delayed response of the bed was "explosive" in nature, and created a miniature ejecta curtain spreading upward and outward for many centimeters for impact of 100-300 micron-diameter grains into similar material. This behavior is explained by deposition of elastic energy in the bed by the "percussive" grain. Impact creates a subsurface stress regime or "quasi-Boussinesq" compression field. Elastic recovery of the bed occurs by dilatancy; shear stresses suddenly convert the grains to open packing and they consequently become forcefully ejected from the site. Random jostling of the grains causes radial homogenization of stress vectors and a resulting circular crater. A stress model based on repercussive bed dilatancy and interparticle adhesive forces (for smaller grains) predicts, to first order, the observed crater volumes for various impact conditions. On earth, only a few grains are mobilized by a percussive saltating grain; some grains are "knudged" along the ground, and some are partly expelled on short trajectories. These motions constitute reptation transport. On Mars, saltation and reptation become indistinct: secondary or "repercussive" trajectories have sufficient vertical impulse to create a dense saltation population of many tens or hundreds of grains for each single high-speed saltation percussion of the bed. Impact cascading will lead to near-surface distortion of the boundary layer, and choked flow formed by a dense "slurry" of sand, with the majority of grains mobilized by repercussive forces rather than by aerodynamic lift. This proceeds until a fully-matured transport layer imposes self- limitations as grain-population density constrains the free-path motion of individual grains.

Marshall, John R.↗

NASA NTRS2000

Percussive Force Magnitude in Permafrost

An in-depth look at percussive drilling shows that the transmission efficiency is very important; however, data for percussive drilling in hard rock or permafrost is rarely available or the existing data are very old. Transmission efficiency can be used as a measurement of the transmission of the energy in the piston to the drill steel or bit and from the bit to the rock. Having a plane and centralized impact of the piston on the drill steel can optimize the transmission efficiency from the piston to the drill steel. A transmission efficiency of near 100% between piston and drill steel is possible. The transmission efficiency between bit and rock is dependent upon the interaction within the entire system. The main factors influencing this transmission efficiency are the contact area between cutting structure and surrounding rock (energy loss due to friction heat), damping characteristics of the surrounding rock (energy dampening), and cuttings transport. Some of these parameters are not controllable. To solve the existing void regarding available drilling data, an experiment for gathering energy data in permafrost for percussive drilling was designed. Fifteen artificial permafrost samples were prepared. The samples differed in the grain size distribution to observe a possible influence of the grain size distribution on the drilling performance. The samples were then manually penetrated (with a sledge-hammer) with two different spikes.

Eustes, A. W., III↗

NASA NTRS2009

Rotary Percussive Auto-Gopher for Deep Drilling and Sampling

The term "rotary percussive auto-gopher" denotes a proposed addition to a family of apparatuses, based on ultrasonic/ sonic drill corers (USDCs), that have been described in numerous previous NASA Tech Briefs articles. These apparatuses have been designed, variously, for boring into, and/or acquiring samples of, rock or other hard, brittle materials of geological interest. In the case of the rotary percussive autogopher, the emphasis would be on developing an apparatus capable of penetrating to, and acquiring samples at, depths that could otherwise be reached only by use of much longer, heavier, conventional drilling-and-sampling apparatuses. To recapitulate from the prior articles about USDCs: A USDC can be characterized as a lightweight, low-power jackhammer in which a piezoelectrically driven actuator generates ultrasonic vibrations and is coupled to a tool bit through a free mass. The bouncing of the free mass between the actuator horn and the drill bit converts the actuator ultrasonic vibrations into sonic hammering of the drill bit. The combination of ultrasonic and sonic vibrations gives rise to a hammering action (and a resulting chiseling action at the tip of the tool bit) that is more effective for drilling than is the microhammering action of ultrasonic vibrations alone. The hammering and chiseling actions are so effective that the size of the axial force needed to make the tool bit advance into soil, rock, or another material of interest is much smaller than in ordinary rotary drilling, ordinary hammering, or ordinary steady pushing. The predecessor of the rotary percussive auto-gopher is an apparatus, now denoted an ultrasonic/sonic gopher and previously denoted an ultrasonic gopher, described in "Ultrasonic/ Sonic Mechanism for Drilling and Coring" (NPO-30291), NASA Tech Briefs Vol. 27, No. 9 (September 2003), page 65. The ultrasonic/sonic gopher is intended for use mainly in acquiring cores. The name of the apparatus reflects the fact that, like a gopher, it periodically stops advancing at the end of the hole to bring excavated material (in this case, a core sample) to the surface, then re-enters the hole to resume the advance of the end of the hole. By use of a cable suspended from a reel on the surface, the gopher is lifted from the hole to remove a core sample, then lowered into the hole to resume the advance and acquire the next core sample.

Bar-Cohen, Yoseph↗

NASA NTRS2012

Reducing Extra-Terrestrial Excavation Forces with Percussion

Mueller, Robert↗

NASA NTRS2014

Percussive Augmenter of Rotary Drills for Operating as a Rotary-Hammer Drill

A percussive augmenter bit includes a connection shaft for mounting the bit onto a rotary drill. In a first modality, an actuator percussively drives the bit, and an electric slip-ring provides power to the actuator while being rotated by the drill. Hammering action from the actuator and rotation from the drill are applied directly to material being drilled. In a second modality, a percussive augmenter includes an actuator that operates as a hammering mechanism that drives a free mass into the bit creating stress pulses that fracture material that is in contact with the bit.

Aldrich, Jack Barron↗

NASA NTRS2011

Percussive Augmenter of Rotary Drills (PARoD)

A percussive augmenter is being developed and it is designed to add ultrasonic hammering to a conventional commercial rotary drill through an adapter using a piezoelectric actuator. The combination of ultrasonic hammering and rotation creates a drill that requires low power and low axial load while providing faster penetration than conventional rotary-only drills. These characteristics make percussive augmentation of rotary drills ideal for not only planetary exploration but commercial applications as well. The purpose of this internship was to produce, test, and optimize an augmenter that drives a 2 inch diameter bit. This task was part of the percussive augmenter's phase II of an ongoing contract and it involved increasing the capability of the .25 inch version of the augmenter prototype that was developed in phase I. Due to fabrication delays of the augmenter, an extensive part of the test effort was conducted using previous rotary and hammer drill prototypes. These tests focused on drilling deep over long periods of time to provide for effective stress test of the drill. Modifications were made to the drill, its components, and the testing procedure to achieve desired borehole depths. These results were used to start initial testing on the 2 inch augmenter and provide preliminary data on the augmenter's ability to significantly improve penetration rate over conventional rotary-only drills.

rotraty hammer↗

NASA NTRS2013

Auto-Gopher: A Wireline Deep Sampler Driven by Piezoelectric Percussive Actuator and EM Rotary Motor

The ability to penetrate subsurfaces and perform sample acquisition at depth of meters may be critical for future NASA in-situ exploration missions to bodies in the solar system, including Mars and Europa. A corer/sampler was developed with the goal of enabling acquisition of samples from depths of several meters where if used on Mars would be beyond the oxidized and sterilized zone. For this purpose, we developed a rotary-hammering coring drill, called Auto-Gopher, which employs a piezoelectric actuated percussive mechanism for breaking formations and an electric motor that rotates the bit to remove the powdered cuttings. This sampler is a wireline mechanism that can be fed into and retrieved from the drilled hole using a winch and a cable. It includes an inchworm anchoring mechanism allowing the drill advancement and weight on bit control without twisting the reeling and power cables. The penetration rate is being optimized by simultaneously activating the percussive and rotary motions of the Auto-Gopher. The percussive mechanism is based on the Ultrasonic/Sonic Drill/Corer (USDC) mechanism that is driven by piezoelectric stack and that was demonstrated to require low axial preload. The design and fabrication of this device were presented in previous publications. This paper presents the results of laboratory and field tests and lessons learned from this development.

piezoactuation↗