Percussive Scoop Sampling in Extreme Terrain
- Creators
- Hassenruck-Gudipati, Hima
Abstract
Axel is a minimalistic cliff climbing rover that can explore extreme terrains from the moon, Mars, and beyond. To increase the technology readiness and scientific usability of Axel, a sampling system needs to be designed and build for sampling different rock and soils. To decrease the amount of force required to sample clumpy and possibly icy science targets, a percussive scoop could be used. A percussive scoop uses repeated impact force to dig into samples and a rotary actuation to collect the samples. Percussive scooping can reduce the amount of downward force required by about two to four times depending on the cohesion of the soil and the depth of the sampling. The goal for this project is to build a working prototype of a percussive scoop for Axel.
Additional Information
Thank to my mentor Professor Joel Burdick and co-mentor Melissa Tanner for guiding me to a project that I could call my own and helping me develop my ideas. Thank you to Professor Bethany Ehlmann and Dr. Kris Zacny for scientific and technologic knowledge needed for this project. Thank you to the Keck Institute for Space Studies and Mary P. and Dean C. Daily for financing my project and giving me this opportunity.Attached Files
Accepted Version - percussive.pdf
Files
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Additional details
- Eprint ID
- 64815
- Resolver ID
- CaltechAUTHORS:20160226-144309688
- Keck Institute for Space Studies (KISS)
- Created
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2016-03-09Created from EPrint's datestamp field
- Updated
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2019-10-03Created from EPrint's last_modified field
- Caltech groups
- Keck Institute for Space Studies