1. Lunar Drilling and Driving Carnegie Mellon 13-14 December 2007 Red Whittaker

3. Carnegie Mellon | 13 December 20073 Mission Scenario Land on crater floor Operate in perpetual darkness Multiple drill-drive cycles

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7. 7 Coring 1 meter drilling –ø30 cm borehole –ø1.5 cm continuous core –~50 kg –0.5 m x 0.5 m x 1.5 m volume Operations: –Drill to depth –Capture core, transfer –Chop core segments –Crush –Load oven

8. Carnegie Mellon | 13 December 20078 Coring, Crushing, Baking, Analysis Coring Sample transfer MeteringCrushingBaking Extraction Sensing

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14. Carnegie Mellon | 13 December 200714 Polar Scenario Land in crater –Direct to floor, no crater wall descent –Minimal lander Communicate by polar orbiter relay Power from isotope source, no solar Navigate in darkness –Active sensing using laser light-striping Operate with supervised autonomy Survey multiple locations –Characterize regolith composition and physical properties –Determine nature and abundance of hydrogen Survive 7 months –25 drill sites x (5 days/site, 3 days/traverse) = 200 days Mass 200-300 kg

15. Carnegie Mellon | 13 December 200715 Issues for Robotic Drilling Drill dominated Robot Design –Stiffness & Reaction to drill –Crouching to lower drill before boring Mobility over rough terrain –Suspension and flotation for lunar terrain –Sensing and operation in darkness Power –Radioisotopic power scenario

16. Carnegie Mellon | 13 December 200716 Mass and Scaling of Robot Robot weight on lunar surface enables drilling Applied thrust Resisted torque

17. Carnegie Mellon | 13 December 200717 Scarab Rover

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19. Carnegie Mellon | 13 December 200719 System attributes Drill implementation –Central location on vehicle to maximize weight for downforce –Direct mounting to chassis –Fixed drill structure Reduced actuation Functions as navigation mast Simplifies kinematics & mass properties Adjustable kinematic suspension –Body roll averaging over terrain –Bring drill to surface to operate –High stiffness platform to react drilling forces Skid steering –Reduced actuation –Increased stiffness Thermal approach –Utilize heat from radioisotope power supply –Shunt excess heat to radiator surface

20. Carnegie Mellon | 13 December 200720 Straddling

21. Carnegie Mellon | 13 December 200721 Drilling

22. Carnegie Mellon | 13 December 200722 Pose adjustment mechanism Raises & lowers by actuating wing angle (independent L & R) Center link bisects wing angle: enables lift-and-level body averaging Retains advantages of passive rocker bogie

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26. Carnegie Mellon | 13 December 200726 Leveling

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28. Carnegie Mellon | 13 December 200728 Differencing

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30. Carnegie Mellon | 13 December 200730 Objectives Develop Drill-dominated Mobility –Accommodate drill and sample processing payload –Stabilize mechanism during drilling –Access sites of interest Address Lunar Polar Considerations –Operation in darkness No solar power Constant low-temperature (80K) Active perception –Mission relevant concept Multiple drill-drive cycles over kilometer scale Rover scale and mass

31. Carnegie Mellon | 13 December 200731 Vehicle requirements Drill dominated design –Bring drill to surface to operate –High stiffness platform to react forces Mobility over rough terrain –30 cm obstacles –Steep soil slopes Environments –Fine, abrasive dust –Vacuum, 40 K ground, 3 K sky Power –Radioisotopic power supply

32. Carnegie Mellon | 13 December 200732 Integrated Driving and Drilling Drill implementation –Central location on vehicle to maximize weight for downforce –Direct mounting to chassis –Fixed drill structure Reduced actuation Functions as navigation mast Simplifies kinematics & mass properties Adjustable kinematic suspension –Body roll averaging over terrain –Bring drill to surface to operate –High stiffness platform to react drilling forces Skid steering –Reduced actuation –Increased stiffness Thermal approach –Utilize heat from radioisotope power supply –Shunt excess heat to radiator surface

33. Carnegie Mellon | 13 December 200733 Specifications Mass: 280 kg Weight:460 N  2750 N  Power (driving): 200 W (peak)  Power (posing):380 W (peak)  Power (idle): 78 W Speed: 5.0 cm/s (6.0 cm/s max) Height (with drill tower): 2.2 m high stance, 1.6 m low stance Width (wheelbase):1.4 m Length (wheelbase):0.8 - 1.3 m Aspect (track/wheelbase):1:1 low stance, 1:2 nominal, 1:7 high Wheel diameter:60 cm

34. Carnegie Mellon | 13 December 200734 Specifications CG height: 0.64m nominal, 0.60m low, 0.72m high Static pitchover: 42° nominal stance, 29° high, 45° low Static rollover: 53° nominal stance, 48° high, 55° low Maximum / minimum straddle:57 cm, Belly contact Approach / departure angle:105° nominal stance Breakover angle:115° nominal stance Rim pull (single wheel): 2500 N Drawbar pull:1560 N (medium-coarse grain sand)

35. Carnegie Mellon | 13 December 200735 Driving in the dark Localization –Rim camera Terrain Mapping and Obstacle Detection –Light striping (front/rear) –Both horizontal and vertical stripes for terrain mapping while driving straight and turning Imaging –Flash stereo / Flash ladar –Mounted on a pan/tilt for 360º coverage Dead reckoning / mapping support –IMU –Wheel encoders Workspace imager –Underbelly mounted camera with LED illumination

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37. Carnegie Mellon | 13 December 200737 Future Evolutions Internal actuation; eliminate external wiring;Shaft-drive Actuated suspension to surmount extreme obstacle or extricate from twist Space-relevant wheels & tread: design, fab, mount Hosting more of RESOLVE subsystems Adding Nav sensors and position estimation from rim Increase dimensions of chassis and body-averaging beam Thermal isolation of cold drill and warm body Use Scarab to load RESOLVE experiments ‘Inchworm’ locomotion