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ISRU Pilot Excavator (IPEx) Technology Readiness Level 5 Design Overview.

N240008162

Publication Date	2024
Personal Author	Schuler, J. M.; Smith, J. D.; Nick, A. J.; Buckles, B. C.; Dyas, J. E.; Ortega, V. V.; Cloud, J. M.; Dokos, A. G.; Zhang, E. L.; Wang, J. J.; Baron, M. A.; Muller, T. J.; Clark, C. J.; Howe, M. W.
Page Count	39
Abstract	This paper details the mechanical and mechatronic design of the Technology Readiness Level (TRL)-5 In-Situ Resource Utilization (ISRU) Pilot Excavator (IPEx). IPEx is a robotic excavator designed for a technology demonstration of regolith mining in the lunar south -pole region. The novel design uses pairs of counter-acting excavation tools called bucket drums, that dig at the same time in opposing directions to reduce the reaction force needed, thereby enabling mining with a small, low-mass, robotic system. IPEx builds on the prior work of the Regolith Advanced Surface Systems Operations Robot (RASSOR), which is the TRL-4 implementation of this concept. The TRL-5 IPEx subsystems that are discussed in this paper include: Regolith Delivery Subsystem (RDS), Mobility Subsystem (MS), Cameras and Dust Mitigation Subsystem (CDMS), and Thermal Control Subsystem (TCS). Each subsystem is described in detail with rationale for design selections. Dust tolerance is a key feature for IPEx and this paper details a thermal control system with an actuated radiator cover and phase change material as well as camera modules with removable electrodynamic dust shields (EDS). Additional components such as actuators, wheels, and bucket drums are discussed in detail. Due to their complexity, the avionics and software subsystems will be discussed in a separate publication.
Keywords	Regolith Rassor Excavation Bucket drum Isru pilot excavator Ipex
Source Agency	National Aeronautics and Space Administration
NTIS Subject Category	54 - Astronomy & Astrophysics 84B - Extraterrestrial Exploration
Corporate Authors	National Aeronautics and Space Administration, Washington, DC.; Lockheed Martin (United States) Bethesda, United States; Kennedy Space Center Merritt Island, Florida, United States; Sierra Lobo (United States) Fremont, Ohio, United States; Bionetics (United States) Yorktown, Virginia, United States; Bennett Aerospace (United States) Cary, United States; Astrion Yorktown, Virginia, United States; Aetos Systems Huntsville, Alabama, United States
Supplemental Notes	Text in English. Presented at AIAA ASCEND, Las Vegas, NV , US. 2024-07-30 to 2024-08-01.
Document Type	Conference Proceedings
NTIS Issue Number	202423

ISRU Pilot Excavator (IPEx) Technology Readiness Level 5 Design Overview.

ISRU Pilot Excavator (IPEx) Technology Readiness Level 5 Design Overview.
N240008162

Publication Date	2024
Personal Author	Schuler, J. M.; Smith, J. D.; Nick, A. J.; Buckles, B. C.; Dyas, J. E.; Ortega, V. V.; Cloud, J. M.; Dokos, A. G.; Zhang, E. L.; Wang, J. J.; Baron, M. A.; Muller, T. J.; Clark, C. J.; Howe, M. W.
Page Count	39
Abstract	This paper details the mechanical and mechatronic design of the Technology Readiness Level (TRL)-5 In-Situ Resource Utilization (ISRU) Pilot Excavator (IPEx). IPEx is a robotic excavator designed for a technology demonstration of regolith mining in the lunar south -pole region. The novel design uses pairs of counter-acting excavation tools called bucket drums, that dig at the same time in opposing directions to reduce the reaction force needed, thereby enabling mining with a small, low-mass, robotic system. IPEx builds on the prior work of the Regolith Advanced Surface Systems Operations Robot (RASSOR), which is the TRL-4 implementation of this concept. The TRL-5 IPEx subsystems that are discussed in this paper include: Regolith Delivery Subsystem (RDS), Mobility Subsystem (MS), Cameras and Dust Mitigation Subsystem (CDMS), and Thermal Control Subsystem (TCS). Each subsystem is described in detail with rationale for design selections. Dust tolerance is a key feature for IPEx and this paper details a thermal control system with an actuated radiator cover and phase change material as well as camera modules with removable electrodynamic dust shields (EDS). Additional components such as actuators, wheels, and bucket drums are discussed in detail. Due to their complexity, the avionics and software subsystems will be discussed in a separate publication.
Keywords	Regolith Rassor Excavation Bucket drum Isru pilot excavator Ipex
Source Agency	National Aeronautics and Space Administration
NTIS Subject Category	54 - Astronomy & Astrophysics 84B - Extraterrestrial Exploration
Corporate Authors	National Aeronautics and Space Administration, Washington, DC.; Lockheed Martin (United States) Bethesda, United States; Kennedy Space Center Merritt Island, Florida, United States; Sierra Lobo (United States) Fremont, Ohio, United States; Bionetics (United States) Yorktown, Virginia, United States; Bennett Aerospace (United States) Cary, United States; Astrion Yorktown, Virginia, United States; Aetos Systems Huntsville, Alabama, United States
Supplemental Notes	Text in English. Presented at AIAA ASCEND, Las Vegas, NV , US. 2024-07-30 to 2024-08-01.
Document Type	Conference Proceedings
NTIS Issue Number	202423