Mechanical design of a modular experiment carrier for a terrestrial analog demo mission and its potential for future space exploration

摘要

The ROBEX (Robotic Exploration under Extreme Conditions) alliance formed by the German Helmholtz Association has the aim to find and use areas of overlapping competencies between institutions involved with the exploration of deep sea and space environment. To demonstrate the developed systems and technologies two test campaigns are conducted, one for the deep sea in the area of Svalbard, Norway and one on the volcano Mt. Etna in Sicily, Italy as an Moon environment analog test ground. The objective of the volcano mission is to demonstrate seismic experiments built-up and conducted autonomously by robotic elements. It shall serve as scientific benchmark to validate concepts reproducing and extending experiments from the Apollo program and at the same time demonstrate robotic capabilities to do so without direct human interaction. The overall test infrastructure consisting of a stationary lander, a mobile element and instrument carriers has been developed within the ROBEX alliance. The modular instrument carrier, referred to as Remote Unit (RU), is deployed and positioned by a robotic system and supplies the payload, in this case the seismometer, with power, data-handling and communication. It also provides mechanical interfaces to the lander and a grapple interface for robotic handling. The RU's primary structure is a differential carbon-fiber-reinforced-plastic (CFRP) framework with a dedicated payload and bus compartment. Two types of RUs have been developed: one basic version that complies with a mass limitation of 3 kg (RU3) and one extended version of 10 kg (RU10). While the basic version has a fixed seismometer as well as limited lifetime due to the lack of photovoltaics, the extended version is equipped with a self-levelling seismometer, photovoltaics and an inductive power/data interface for unit charging and telemetry/telecommand (TT&C). Both designs use the identical main structure to meet the envisaged modularity approach. Even though the hardware was neve