1. Penetrators Deployments Robotics
Jerzy Grygorczuk
Warsaw, January 2011

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

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

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

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

6. Tests in a dry sand in 2m test bed

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

8. PHOBOS Sample Return Mission
Lavotchkin manipulator
with CHOMIK penetrator

9. MUPUS → CHOMIK
Stowed configuration
During resizing operation

10. CHOMIK STM

11. Kinetic penetrator (IMPACTOR) for the american mission
Trail Blazer

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

13. 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

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

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