Document Type

Poster Session

Presentation Date


Conference Name

American Society for Engineering Education Illinois-Indiana Section Conference

Conference Location

Fort Wayne, IN


This project was adapted from a RASC‐AL NASA project as an idea of future space exploration. Our goal was to create an arm linkage that could be put on a rover that is sent to explore Deimos, one of Mar’s moons. The challenge presented is that the moon has low gravity, low exit velocity, and is very hard rock. These conditions thus make breaking and collecting rocks or dust very challenging, since it is unlikely there will be any small rocks on the surface. To accomplish this task we will make an arm with an end‐effector that is capable of 6 degrees of freedom and is able to reach from the surface of the moon into a port on the rover to deposit the sample. The arm must be able to withstand the high stress and high loads of drilling while also maintaining its position. Our final design was able to hammer/drill the surface and then flip around and scoop the fractured material into a closed container and then deposit the specimen into the rover. We used a two arm and rotating base to be the means of transporting our end‐effector. We have full range of motion with the arms and used gearing to make sure that our arms have enough torque while also minimizing size and thus weight and cost. In conclusion we made our first system that can break apart and harvest the hard rock of Deimos and also made a system that gives our end‐effector the freedom of motion it needs while also keeping within size constraints.



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Engineering Commons