A multidisciplinary design tool for robotic systems involved in sampling operations on planetary bodies

Area of Science:

• Robotics and Automation
• Planetary Science
• Aerospace Engineering

Background:

• Planetary sampling operations generate forces that can compromise robotic system stability.
• Early design phases require rapid evaluation of numerous configurations and conditions for robotic systems.
• Ensuring the stability of landers and rovers during sampling is critical for mission success.

Purpose of the Study:

• Introduce MISTRAL (Multidisciplinary Design Tool for Robotic Sampling), a novel tool for early-stage design of planetary robotic sampling systems.
• Enable rapid trade space exploration and determination of the preliminary design envelope for sampling apparatuses.
• Guarantee the stability of the entire robotic system during extraterrestrial sampling operations.

Main Methods:

• Developed a three-dimensional analytical model within MISTRAL to simulate various sampling scenarios.
• Incorporated multidisciplinary inputs including robotic system characteristics, environmental properties, and sampling system parameters.
• Applied MISTRAL to lander applications, analyzing its structure and analytical model.

Main Results:

• MISTRAL successfully determined the preliminary design envelope for sampling apparatuses, ensuring robotic system stability.
• The tool's analysis model was validated using real mission data from NASA's Phoenix Mars lander.
• MISTRAL facilitated the definition of high-level requirements for a potential lander mission to Enceladus.

Conclusions:

• MISTRAL is a comprehensive and versatile tool for early-stage design of robotic sampling systems.
• The tool provides crucial guidelines for informed decision-making in the design of planetary exploration missions.
• MISTRAL enhances the reliability and success probability of robotic sampling operations on celestial bodies.