CCR Payload for the Astrobotic Lander

30 March 2011

--------------------------------------------Kris Zacny, PhDVice PresidentDirector, Technology Exploration Group

Honeybee Robotics Spacecraft Mechanisms Corporation 398 W Washington Blvd., Suite 200, Pasadena, CA 91103ph: 626-389-8459 / fax: 626-689-4823 / mob: 510-207-4555 / blackberry: 646-508-9807 zacny@honeybeerobotics.comhttp:/www.honeybeerobotics.com

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CCR System

CCR Deployment Mechanism

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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

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Rover track and landing thrusters hidden for clarity

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CCR Deployment Sequence [2]

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• 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

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CCR Deployment Sequence [3]

• Pivot Assembly reaches hard stop. Limit switch is triggered

• Pin Puller #2 is actuated, releasing the CCR Rod

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CCR Deployment Sequence [4]

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• 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

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CCR Deployment Sequence [5]

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• (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

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CCR Deployed [1]

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CCR Deployed [2]

~39”