Lunar sampling system Whisk
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The Lunar sampling system incorporates a whisk attached to a robotic arm; an example video is available at this link. The whisk's wire shape can be adjusted by altering the Ang1 parameter. If the collected stones don't match the desired size, such as no 1cm stones on the landing site but only 2cm stones, you can switch between "spoon" and "whisk" modes to collect dust or stones respectively. The whisk requires power for both rotating the motor bolt and itself. Weighing in at just 23g, a lighter rover wheel version is also possible, as demonstrated in this video link.
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