Maintenance-optimized Modular Robotic Concepts for Planetary Surface ISRU Excavators

Modular robotic concepts are identified and evaluated over the design and operations/maintenance lifecycle for autonomous Lunar, Mars, and partial gravity planetary surface excavation and in-situ earthworks equipment. In-Situ Resource Utilization (ISRU) is the exploitation of available resources at the site of a landed spacecraft on the surface of another planetary body. It is intended that this ISRU excavator concept be capable of material extraction from native regolith, and will be able to operate in a variety of planetary surface environments after initial shakedown on the moon. Using heritage from highly multi-functional, reconfigurable robotic systems like the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE), Regolith Advanced Surface Systems Operations Robot (RASSOR), and Mars exploration rovers, we propose a flexible maintenance-optimized mobility platform concept with quick-connect/disconnect features for robotically swappable excavation implements. Dust tolerant torque transmission, power & data docking, thermal fluid connectors, and modular avionics and instrumentation will allow for autonomous swapping of tools, replacement of spares, and longterm maintenance of robotic excavators. The architecture includes modular tools for conventional excavate / scoop / haul / dump / process functions of a terrestrial mining operation on Earth, but also will have the capability to operate and robotically maintain itself without human intervention. The concepts described in this study will provide a suite of technologies, configurations, and operations ready for inclusion into a final flight-ready excavator system.