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Development and design of a robotic arm for sampling lunar regolith
The goal of this project is to simulate and design a prototype of a robotic arm for sampling lunar regolith from a lander platform.
Keywords: Robotic arm, Space exploration, ISRU
Bringing resources from earth to space remains expensive and limits the reach and duration of humans in space. In this context, a possible solution is in-situ resource utilization (ISRU). ISRU is an emerging key technology that allows for mining resources directly on other celestial bodies.
In this context, Airbus has developed a process to extract oxygen from lunar regolith which dramatically reduces costs for future missions [1]. To demonstrate the feasibility of this process in space, a small-scale mission to the Moon is currently being planned.
As part of this mission, regolith has to be sampled from the surface of the Moon and transported to the reaction chamber. The goal of this thesis is to simulate this operation in 3D, using a model of a robotic arm and a lander. Next, a (terrestrial) prototype of a robotic arm shall be designed and build. We hereby rely on already available joint modules available in the lab. However, the exact topology of the arm and placement of the joints is part of this project. Finally, the prototype shall be manufactured and tested.
[1] https://www.airbus.com/newsroom/press-releases/en/2020/10/roxy-turns-moon-dust-into-oxygen.html
Bringing resources from earth to space remains expensive and limits the reach and duration of humans in space. In this context, a possible solution is in-situ resource utilization (ISRU). ISRU is an emerging key technology that allows for mining resources directly on other celestial bodies.
In this context, Airbus has developed a process to extract oxygen from lunar regolith which dramatically reduces costs for future missions [1]. To demonstrate the feasibility of this process in space, a small-scale mission to the Moon is currently being planned.
As part of this mission, regolith has to be sampled from the surface of the Moon and transported to the reaction chamber. The goal of this thesis is to simulate this operation in 3D, using a model of a robotic arm and a lander. Next, a (terrestrial) prototype of a robotic arm shall be designed and build. We hereby rely on already available joint modules available in the lab. However, the exact topology of the arm and placement of the joints is part of this project. Finally, the prototype shall be manufactured and tested.
- Simulation setup of robotic arm and lander for sampling operation
- Analysis of design space (various arm topologies, actuator torque/velocity profiles)
- Transferring lessons learned to robotic arm concept design
- Design of a robotic arm based on available concepts in the lab
- Control and testing of the arm
- Simulation setup of robotic arm and lander for sampling operation
- Analysis of design space (various arm topologies, actuator torque/velocity profiles)
- Transferring lessons learned to robotic arm concept design
- Design of a robotic arm based on available concepts in the lab
- Control and testing of the arm
- Interest in the topic and independent working ability
- Familiarity with top-down engineering methodology
- Experience with C++ and ROS (simulating robotic systems is a plus)
- Experience in goal-oriented hardware development and CAD Design
- Interest in the topic and independent working ability
- Familiarity with top-down engineering methodology
- Experience with C++ and ROS (simulating robotic systems is a plus)
- Experience in goal-oriented hardware development and CAD Design
Please send your CV, Transcripts and a short motivational statement to Hendrik Kolvenbach (hendrikk@ethz.ch).
Please send your CV, Transcripts and a short motivational statement to Hendrik Kolvenbach (hendrikk@ethz.ch).
