A Spring Propelled Extreme Environment Robot for Off-World Cave Exploration

Abstract

Pits on the Moon and Mars are intriguing geological formations that have yet to be explored. These geological formations can provide protection from harsh diurnal temperature variations, ionizing radiation, and meteorite impacts. Some have proposed that these underground formations are wellsuited as human outposts. Some theorize that the Martian pits may harbor remnants of past life. Unfortunately, these geological formations have been off-limits to conventional wheeled rovers and lander systems due to their collapsed ceiling or "skylight" entrances. In this paper, a new low-cost method to explore these pits is presented using the Spring Propelled Extreme Environment Robot (SPEER). The SPEER consists of a launch system that flings disposable spherical microbots through skylights into the pits. The microbots are low-cost and composed of aluminium Al-6061 disposable spheres with an array of adapted COTS sensors and a solid rocket motor for soft landing. By moving most control authority to the launcher, the microbots become very simple, lightweight, and low-cost. We present a preliminary design of the microbots that can be built today using commercial components for under 500 USD. The microbots have a total mass of 1 kg, with more than 750 g available for a science instrument. In this paper, we present the design, dynamics and control, and operation of these microbots. This is followed by initial feasibility studies of the SPEER system by simulating exploration of a known Lunar pit in Mare Tranquillitatis.

Special spherical mobile robot for planetary surface exploration: A review

“…The research results show that with the increase of the number of robots, the climbing speed is faster and the failure risk is lower. 35 Figure 6(d) shows the specific scheme of CubeSat cube satellite lander carrying multiple SphereX, 36 and Figure 6(e) shows the process of SphereX from landing to entering the lunar lava tube exploration. 37 With SphereX, we can fly into or jump into the cave directly from the lava tube skylight without the traction of the descent rope.…”

Integrated Conceptual Design and Parametric Control Assessment for a Hybrid Mobility Lunar Hopper

“…Other studies explored small expendable and low-cost exploration systems, like Ref. [28] with a spring-propelled spherical robot with a total mass of 1 kg and 750 g of available weight for science instruments.…”

Planetary Caves: A Solar System View of Processes and Products

“…The accelerated search for additional cave features on the Moon and Mars (refer to Cushing, 2017; Wagner & Robinson, 2021) ultimately expanded into the identification of nearly 3,000 potential subsurface access points (SAPs; this term is applied in lieu of “cave entrance” as we lack any additional evidence to suggest a cave exists) on eight planetary bodies (Titus, Wynne, Malaska, et al., 2021; Wynne, Titus, et al., 2022) and cave‐bearing landscapes across the solar system. The prospect of extraterrestrial caves has steadily fueled research efforts to: examine microbial life of tellurian caves as Mars analogs (e.g., Boston, 2004; Boston et al., 2006; Léveillé & Datta, 2010; Röling et al., 2015; Selensky et al., 2021; Westall et al., 2015); model environments of terrestrial and potential martian cave systems (e.g., Schörghofer et al., 2018; Titus et al., 2010; Williams & McKay, 2015; Williams et al., 2010); improve cave detection capabilities (e.g., Cushing et al., 2015; Hong et al., 2015; Pisani & De Waele, 2021; Wynne et al., 2008, 2021); develop and expand upon life detection instrumentation and techniques (e.g., Patrick et al., 2012; Preston et al., 2014; Storrie‐Lombardi et al., 2011; Uckert et al., 2020); expand the number of cave explorer robotic platforms under development (Green & Oh, 2005; Kesner et al., 2007; Morad et al., 2019; Nesnas et al., 2012; Parness et al., 2017; Titus, Wynne, Boston, et al., 2021; Titus, Wynne, Malaska, et al., 2021); advance robotic sensing and navigational capabilities (e.g., Agha‐Mohammadi et al., 2021; Kalita et al., 2017; Kim et al., 2021; Thakker et al., 2021); and, propose mission concepts (e.g., Kerber et al., 2019; Phillips‐Lander et al., 2020; Whittaker et al., 2021; Ximenes et al., 2012) and strategies to optimize future planetary cave exploration efforts (e.g., Rummel et al., 2014; Titus, Wynne, Boston, et al., ...…”

“…expand the number of cave explorer robotic platforms under development (Green & Oh, 2005; Kesner et al., 2007; Morad et al., 2019; Nesnas et al., 2012; Parness et al., 2017; Titus, Wynne, Boston, et al., 2021; Titus, Wynne, Malaska, et al., 2021);…”

“…• examine microbial life of tellurian caves as Mars analogs (e.g., Boston, 2004;Boston et al, 2006;Léveillé & Datta, 2010;Röling et al, 2015;Selensky et al, 2021;Westall et al, 2015); • model environments of terrestrial and potential martian cave systems (e.g., Schörghofer et al, 2018;Titus et al, 2010;Williams & McKay, 2015;Williams et al, 2010); • improve cave detection capabilities (e.g., Cushing et al, 2015;Hong et al, 2015;Pisani & De Waele, 2021;Wynne et al, 2008Wynne et al, , 2021); • develop and expand upon life detection instrumentation and techniques (e.g., Patrick et al, 2012;Preston et al, 2014;Storrie-Lombardi et al, 2011;Uckert et al, 2020); • expand the number of cave explorer robotic platforms under development (Green & Oh, 2005;Kesner et al, 2007;Morad et al, 2019;Nesnas et al, 2012;Parness et al, 2017;Titus, Wynne, Boston, et al, 2021;Titus, Wynne, Malaska, et al, 2021); • advance robotic sensing and navigational capabilities (e.g., Agha-Mohammadi et al, 2021;Kalita et al, 2017;Kim et al, 2021;Thakker et al, 2021); and, • propose mission concepts (e.g., Kerber et al, 2019;Phillips-Lander et al, 2020;Whittaker et al, 2021;Ximenes et al, 2012) and strategies to optimize future planetary cave exploration efforts (e.g., Rummel et al, 2014;…”