Review on planetary regolith-sampling technology

Design and testing of the JPL‐Nautilus Gripper for deep‐ocean geological sampling

Recent research and development activities on space robotics and AI

A sweeping and grinding combined hybrid sampler for asteroid sample return mission

A complete robotic system software architecture is presented including elements of an operator control station and the Intelligent Robotics System Architecture (IRSA) for embedded robotic system software. The architecture has been implemented for various robotics testbeds and prototypes including comet surface sample return sampling validation, Europa Lander sampling autonomy, Mars 2020 mission testbeds, and the RoboSimian mobile robot. IRSA provides a reference architecture for development of complete robotics systems or systems with knowledge of what subset of capabilities are provided. The architecture is presented and its use in various applications is described. The system includes operator side components including sequence generation and simulation and robot side components such as hierarchical behaviors and sequencing.

The intelligent robotics system architecture applied to robotics testbeds and research platforms

The BiBlade sampling chain was developed for use in a potential Comet Surface Sample Return mission. Following prior versions of the sampling tool, a new tool was developed and validated to TRL 6. Sample acquisition testing was performed across a range of comet simulants and operational conditions. Tool operation was validated in a thermal-vacuum chamber. The end-to-end sampling chain was validated including sampling, sample measurement, and sample transfer. The sampling system is now ready for flight implementation.

BiBlade sampling tool validation for comet surface environments

This paper presents the validation of the end-to-end BiBlade comet surface sampling chain, including Touch-and-Go (TAG) activities. The sampling chain consists of the BiBlade sampler, a structural compliant interface to a would-be spacecraft, a 3 degree-of-freedom planar robotic arm, a sample volume measurement device, and two sample vaults. The end-to-end sample chain is integrated into a purpose built full-scale dynamic spacecraft emulator, enabling to be performed the full sequence from surface approach to collected sample storage. Touchdown, sample triggering, sample acquisition, and ascent from surface are a critical set of sequences dependent on spacecraft dynamics and the sampler interaction with a comet surface. Of special importance are the rotational and linear inertias provided by the 2200kg spacecraft emulator during TAG operations. The full-scale dynamic spacecraft emulator is intended to validate these complex interactions between the sampler, comet surface simulants, and spacecraft mass. The full-scale dynamic Touch-and-Go spacecraft emulator consists of a 2200kg mass on a frictionless, planar air bearing system, 14 horizontal air thrusters providing 3 degree-of-freedom motion, onboard computing for motion control, and an off-board motion capture system providing localization. This robotic testbed can approach a simulated comet surface in a controlled fashion to validate the BiBlade TAG performance in nominal and off-nominal approach velocity scenarios. Following TAG, sample transfer, volume verification, and storage is performed.

Full-scale dynamic touch-and-go validation of the BiBlade comet surface sample chain

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BiBlade sampling tool validation for comet surface environments

Full-scale dynamic touch-and-go validation of the BiBlade comet surface sample chain