Penetrators Deployments Robotics Jerzy Grygorczuk Warsaw, January 2011

Rosetta mission to the comet Lander on the comet artistic vision.

MUPUS-TP onboard PHILAE (ESA-DLR lander) MANIPULATOR PENETRATOR

Hammering Device construction SENSORS ELECTRONICS (ASIC) HAMMER CONTROL ELECTRONICS CAPACITOR 25 µF, 600 V RELUCTANT MAGNETIC CIRCUITRY HAMMER ELASTIC SUSPENSION ROD’S END PLATE

Penetrator „KRET” (mole) Elements of the KRET before integration Test set-up

Tests in a dry sand in 2m test bed

Technical parameters and performance of the KRET 1 Spring energy [J] Average stroke [mm]

PHOBOS Sample Return Mission Lavotchkin manipulator with CHOMIK penetrator

MUPUS → CHOMIK Stowed configuration During resizing operation

CHOMIK STM

Kinetic penetrator (IMPACTOR) for the american mission Trail Blazer

Pin-on-Disk Tribometer (ESA PECS project) Control Unit NI PXI instrumentation platform Instrument

The novel surface layers for the space mechanisms Appearance of samples prepared for tribo testing a nitride diffusion layer on Ti6Al4V alloy (b) (c) a nitrided layer on AISI 321 steel and with Ni-P (d) Ni-P-Si3N4 coating on AA7075 aluminum alloy

NetLander Uprighting Mechanism Sollar arrays deployment TORQUE: over 100 Nm MASS: 0.9 kg

Ultralight MANIPULATOR - 3 dof, 3-3.5m, 2kg Stowed During tilted up extension After full extension and lowering