1. CCR Payload for the Astrobotic Lander 30 March 2011 -------------------------------------------- Kris Zacny, PhD Vice President Director, Technology Exploration Group Honeybee Robotics Spacecraft Mechanisms Corporation 398 W Washington Blvd., Suite 200, Pasadena, CA 91103 ph: 626-389-8459 / fax: 626-689-4823 / mob: 510-207-4555 / blackberry: 646-508-9807 zacny@honeybeerobotics.com http:/www.honeybeerobotics.com

2. 2 CCR System CCR Deployment Mechanism

3. 3 CCR Deployment Sequence [1] CCR Deployment Mechanism in stowed position Pin Puller #1 is actuated, releasing the spring loaded linear stage Linear stage is on rollers for smooth deployment 1 Rover track and landing thrusters hidden for clarity

4. 4 CCR Deployment Sequence [2] 1 2 3 Linear stage reaches end of travel Roller (1) constraining CCR is free, due to slot in roller track (2) Preloaded, redundant torsion springs (3) cause CCR rod to pivot upwards

5. 5 CCR Deployment Sequence [3] Pivot Assembly reaches hard stop. Limit switch is triggered Pin Puller #2 is actuated, releasing the CCR Rod 2

6. 6 CCR Deployment Sequence [4] 2314 Nose Cone (3) contacts ground Puncture Rod (2) is pushed upwards. Tip punctures sealed gas cylinder (1) Gas is released from gas cylinder, exiting out the nose cone jets (4) CCR Rod plunges into the soil CCR Rod is free to slide within the sleeve

7. 7 CCR Deployment Sequence [5] 3 3 (Left) Non-contact position sensor is triggered at end of travel (Center) Pin Puller #3 is actuated, releasing spring loaded arms simultaneously (Right) CCR Rod continues to plunge into soil unhindered

8. 8 CCR Deployed [1]

9. 9 CCR Deployed [2] ~39”