ROBOTIC ARM BASED EXCAVATOR CUM REGOLITH SAMPLING DEVICE

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In the recent update 2.3 (29/9/18), three new files were added: a top-level assembly draft file with all design dimensions, a power budgeting graphical sheet in .jpg format showing one cycle's power requirements, and a technical document in .pdf format covering every essential aspect of the design. Update 2.2 (27/9/18) introduced a motion simulation of the sampling process as a .gif file and updated the Youtube link for motion simulations. Additionally, a weight budgeting sheet was added in .jpg format. This second update is an improvement upon the earlier design submitted about two weeks ago, with changes including the use of MOS2 solid lubricant bearing for the elevation pivot pin and needle thrust roller bearings alongside deep-drawn needle roller bearings for azimuth. The sampling section weighs approximately 150g and is made of teflon. Meanwhile, the extraction, elevation, and azimuth drive along with their peripherals collectively weigh around 500g. The weight depends on the height of the arm from the lunar surface on the lunar descent module. A landing camera near the lander legs is utilized for visual inspection of the sample. An animation on this YouTube link (https://youtu.be/6zgYAtWMufs) explains the mechanism's working. To minimize the overall system weight, fasteners adhere to ASTM B348 standards and are made of titanium.