Flight Programs
DRT - Rock Brushing End-Effector
The Dust Removal Tool (DRT) is designed to expose the natural surfaces of Martian rocks obscured by layers of dust deposited by aeolian processes. The flight unit DRT was integrated with the MSL rover in early 2011 and is currently on track to begin surface operations at Mars’ Gale Crater in August 2012.
- Compact and low power. The DRT, contained within a cylinder 154 mm long and 102 mm in diameter, has a mass of 925 grams. Using a single brushless DC motor, the DRT removes dust from an area 45 mm in diameter. The mechanism features a high reduction single-stage planetary gear box and a hinged brush block, both of which incorporate lessons learned from previous Mars missions.
- Designed for an unstructured environment. The DRT belongs to a special class of robotic mechanisms designed to interact with unstructured extraterrestrial surface objects and environments. During the dust removal process, a set of brushes articulate to maintain surface contact as they rotate at high speed. The wide range of rock surface characteristics along with severe resource constraints makes the DRT solution a significant contribution for its simplicity and robust design.
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ISAD - Scoop & Drill End Effector
The Icy Soil Acquisition Device (ISAD), sometimes called the Phoenix Scoop, is both a soil scoop and a precision ice-sampling tool. This end-of-arm scoop for the Phoenix Mars Lander successfully operated on Mars during its mission in 2008, excavating Mars dirt and ice in the polar region to provide insight into the planet’s water cycle. The scoop, mounted on the end of a robotic arm over 2 meters long, provided multiple ways for the surface operation team to excavate hard, compacted icy soil.
The Phoenix scoop included ripper tines (sharp prongs) and a serrated blade-like drill rasp. Ripper tines first tore through the exposed materials, then the serrated rasp scraped the fractured soil. The scoop then captured the fragmented samples to gather enough sample mass for scientific study on the lander platform, using the Thermal and Evolved Gas Analyzer. Honeybee also provided the TEGA Dust Cover for the mission.
- Reliable Operation. The Phoenix Mars Lander Scoop successfully excavated hard, compacted Martian soil through multiple operations.
- Mission-Driven Design. The scoop was designed with a task-specific approach, solving the challenge of excavating hard soil without placing extensive torque on a long robotic arm. The serrated rasp came about as a result of Honeybee’s extensive experience with geotechnical sample acquisition systems.
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RAT - Rock Grinding End-Effector
The Rock Abrasion Tool (RAT) was the first machine ever to gain access to the interior of rocks on another planet. Designed, developed, and operated by Honeybee Robotics as a part of NASA's twin 2003 Mars Exploration Rovers science payload, the RAT uses grinding wheels of diamond dust and resin to gently abrade the surface of Martian rocks.
- Compact and low power. Using three small motors the RAT requires only 11 watts of energy to cut into Martian rock. Weighing 685 g, the RAT measures 7 cm in diameter and 10 cm long, about the size of a Coke can.
- The tool as an instrument. Honeybee is part of ongoing testing efforts to characterize the properties of rocks on Mars. Engineering data from the RATs has been used to determine the properties of rocks on Mars.
- Robust and reliable. The RATs have performed long beyond their design life in the dusty Mars environment. Honeybee engineers continue to support NASA efforts to make every use of the available hardware.
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SMS - Precision Sample Positioner
The Sample Manipulation System (SMS), delivered to NASA's Goddard Spaceflight Center in 2008, is a precision sample positioning subsystem of the Sample Analysis at Mars (SAM) instrument suite on the 2011 Mars Science Laboratory (MSL) mission. The SMS plays an integral role in the path of a sample from the Martian surface to the analytical instruments within SAM. The system provides 74 quartz cells for accepting, storing, and delivering the samples to the science suite.
- SMS features an underactuated three-DOF mechanism with a compliant linear actuator and a high-reduction, low-backlash rotary actuator capable of precision operation across wide temperature ranges and during steep temperature gradients.
- A custom twist capsule transmits sensor signal across the rotary interface.
- The multi-modal fault detection and correction scheme along with a tightly integrated set of feedback sensors includes a custom incremental encoder that doubles as an alignment sensor.
- Sample cells are sealed in a pyrolysis oven, pressing the cell's copper collar into a knife-edge seal with a force of up to 250 lb. The sample is then heated to 1100°C for analysis.
- Compliance with astrobiologically strict contamination limits.
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Solar Panel Deployment Hinges
Reliable Design, High Deployed Stiffness for Accurate Pointing
Honeybee has developed multiple precise locking deployment hinges for solar panels and other appendages. Our hinges exhibit high deployed stiffness and strength, which enables agile maneuvering and alleviates requirements of the spacecraft attitude control system to compensate for structural flexibility of the solar arrays.
- Flight proven. USAF STPSat-1, launched in 2007, had 8 Honeybee hinges deploy 4 panels with 100% success. NSPO has taken delivery of 6 hinges for the 2014 launch of FORMOSAT-5.
- Simple construction. High reliability design exhibits low part count and generous torque margin.
- Rigid structure. High deployed stiffness (> 5 Hz) to enable enhanced agility and fine spacecraft pointing control.
- Verified deployment. Optional integral switches for positive indication of deployment.
- Rapid delivery: Simple, proven design enables short lead times.
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Deployable Dust Cover
The Deployable Dust Cover was developed for integration with the University of Arizona's Thermal and Evolved Gas Analyzer (TEGA), a combination high-temperature furnace and mass spectrometer onboard the 2007 Phoenix Mars Lander Mission.
- Sealed protection. The cover used a magnetic seal to protect the TEGA instrument from contamination by airborne dust before it was ready to accept samples.
- Mission-driven design. The TEGA Dust Cover contained no materials that could possibly compromise the instruments’ results. Deploying the cover produced no particulates that could find their way into the TEGA oven chambers.
- Reliable operation. Paraffin actuators provided reliable operation for this mission-critical hardware.
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