Regolith Utilization Multi-tool (RUM)

RUM's body provides a number of features designed to achieve effective performance in a number of tasks. These tools include a scoop, regolith storage compartment, a self-cleaning sieve, de-blinder mechanism, two shaker motors, a vibro-compactor surface, a grader blade, a rock removal pry bar, and a surface for geotechnical measurements. The top of the scoop body includes storage for sensors, and additional room for other features. RUM can also be outfitted with additional sensors, quick attachment mechanisms, and geotechnical testing tools. The bottom surface of RUM's excavator blade has a flat plate surface which is used primarily for compaction but can also be used to smooth surfaces. The capability to conduct compaction of in-situ soils up to and beyond 100% relative density is made possible by tunable, high-impact tamping and high-frequency vibrations (or any combination of the two).The sides of the scooping area are used when measuring bulk density and relative density, and allow for a smooth trench wall to be formed. RUM's blade edge can be used for rigorous tasks such as rock removal and prying. Size screened regolith is required for both construction and ISRU operations, RUM has the capability and sort regolith below 1mm particle size at 10-40 grams per second without clogging. In addition to sorting regolith. RUM can measure soil shear using an attached grader blade, conduct pressure sinkage testing of regolith bearing and trafficability properties, regolith angle of repose, and regolith density using photogrammetry and known volume samples. RUM combines the function of multiple tools into one package that is ideal for smaller scale planetary ISRU and construction technology. The system was devised as a way to perform the collection of regolith feedstock, size screen it, convey to ISRU plant or other system, and perform site preparation/regolith manipulation tasks, and perform in-situ geotechnical measurements all with a single robotic arm's end effector tool. This was designed to reduce flight mass compared to splitting these capabilities across multiple tools that might be installed onto a lander or multiple arms. For a large set of in-situ based site-preparation and construction tasks on the lunar surface, there is a need for size-sorted/screened regolith media. The capability to provide these functions while minimizing mass and volume is very beneficial. Structures such as flat, rock free, operational areas as well as berms, roadways, landing pads, and trenches are critical first-step infrastructure on the lunar surface and technology demonstration missions that prove the capability to build these structures are imminent as part of the Artemis Program and future lunar base construction.