1. TEST EQUIPMENT DATA PACKAGE (TEDP)
Title of Design: Float Sample Grabber
Team Name: Space Miners
Team Logo:
Academic Institution Name and Address:
University ofTexas at El Paso
Center for Space Exploration Technology Research
Department ofMechanical Engineering
500 WestUniversity Ave.
El Paso, Texas 79968-0521
Student Team Contact:
Esteban Salcedo, esalcedo@miners.utep.edu,915-258-5125
Faculty Supervisor:
Dr. Evgeny Shafirovich,eshafirovich2@utep.edu, 915-747-6465
Team Members:
■ Salcedo, Esteban, esalcedo@miners.utep.edu,Designer/ Senior / Mech. Engr.
■ Torres, Michael,Mtorres17@miners.utep.edu,Designer / Senior / Mech. Engr.
■ Garfield, Stephanie, spgarfield@miners.utep.edu, Designer / Senior / Mech. Engr.
Support Team Members:
● Aboud, Jad, jaboud@miners.utep.edu, Designer / Senior / Mech. Engr.
Quick Reference Data Sheet

2. Team Name: Space Miners
School Name: The University of Texas at El Paso
Experiment Title: Float Sample Grabber
Work Breakdown Structure (WBS): N/A
Test Date(s): June 1-5, 2015
Overall Assembly Weight (lbs.): 5.7
Assembly Dimensions (L x W x H): 12x 3x 3
Equipment Orientation Requests: N/A
Power source Requests (Type and Quantity): N/A
Overboard Vent Requests (Yes or No): No.
Power Requirement (Voltage and Current Required):
Free Float Experiment (Yes or No): No
Camera Pole and/or Video Support: No.
Table of Contents
1. Quick Reference Sheet
2. Table of Contents
3. Table of figures

3. 4. Abstract
5. Design Background.
6. Design Objective.
7. Equipment Description.
a. Function
b. Components
c. Material and weight
8. Structural Verification.
a. Prototype one
b. Prototype Complications
c. Drop Test
d. Allowable load
9. Operation Plan
10. Component Attachment
11.Institutional Review Board.
12.Hazard Analysis.
13.Sharp points or edges.
14.Collisions.
15.Crushing forces.
16.Tools Requirements.
17.Ground Support Requirements.
18.Supporting Information.
19.Risk Assessment Codes (RACs).
20.Tool Requirements.
Abstract/Synopsis:
When it comes to Extravehicular Activity (E.T.A.),there are many challenges we must overcome that we
don’t face here on earth. While it is difficult enough to work on the moon, to better understand the solar

4. system around us, studies of new bodies including asteroids should be done. The working environment on
the surface of an asteroid differs greatly from that of the moon and presents many more challenges.
The goal of this program is to design more efficient tools for astronauts to obtain rock samples that are
found on the surface of asteroids. The environment on an asteroid can make it difficult to gather samples.
Challenges that the environment presents are microgravity, lack of mobility, vacuum, cross contamination
and drastically varying temperatures. In order to make a proper analysis, the obstacles must be
fundamental parameters in the design process. The parameters will guide the design of the new space
walking tool. For instance, the microgravity that a body experiences on the surface of an asteroid would
complicate a traditional shovel. Due to the lack of gravity the design will have to account for it in a way
that would solve this issue, thus guiding the design..
The process to design a tool is to identify the challenges and the requirement the tool must perform in
order to be effective. Once these parameters are set,a promising next step would be to look at tools that
were similarly used for the same requirements. Of Course the tools may be similar but the parameters are
now different but, this allows a strong foundation to be created that can be adjusted.
With the design that was developed, it is possible for an astronaut to gathers separate samples, without
cross contamination due to the spherical design. This is possible since the contact surface changes each
time and is an enclosed space. This allows, the three samples to be obtained by the same mechanism.
The primary concept is set and designed based on the parameters in a way that improvements and
adjustments can be easily achieved if needed.
Design background:
In the 2020’s NASA plans to redirect an asteroid into the moon’s orbit so that samples of the asteroid
(NASA) itself can be collected and analyzed. The samples will possibly help us understand the origins of
the solar-system we live in.
These asteroids are a hazardous working environment for astronauts due to the extreme temperature and
the microgravity.Temperatures that an asteroid can experience can be as low as minus one-hundred
degrees fahrenheit ( minus seventy-three degrees celsius). On the other hand the micro-gravity creates

5. many challenges in itself. In an environment that consist of Microgravity a traditional shovel would not
work because the sample will not stay in place and placing it, in a storage device for travel back to earth
becomes an issue.
The material of the asteroid becomes an important factor when considering obtaining sample from the
surface. There are three classification of asteroids based on the material composite. These three types are
designated as C-type, S-Type and V-type. The most common type which would be C-type which is made
of a combination of clay and stony silicate rocks (Choi, Charles).
Design objectives:
The goal of this proposed project is to develop a device that allows future astronauts to easily obtain
regolith samples from an asteroid. Specifically, samples from the surface ranging in size 0.25in to 1.5in,
and contain samples from 3 different sites all without contamination. The overall design of the device was
gear toward operation in a microgravity environment and accounts for all factors that may be
encountered.
Design dimensions are 12in x 3in x 3in and would weigh approximately 5.7 lbs. The prototype and early
design sections will be manufactured with a makerbot replicator and the use of ABS polymer. The final
design will be manufactured from aluminum components. All of which are compatible with the chlorine
testing environment.
The device was designed after a one-handed squeeze grip grabber. The handle of the device is equipped
with a spring loaded squeeze gripper that allows the jaws of the gripper to close when it’s pulled. The
squeeze grip handle is designed to obtain the sample of regolith and sealthe container with just a tighter
squeeze. Our grabber includes multiple detachable containers used for obtaining and sealing the samples
of regolith. Each container includes a set of scoops that would lift the regolith from the surface,keeping
the edges of the container clear of dust and rock particles before sealing the particles in with the
container. These edges are designed with a lip . To prevent cross contamination, each sample container is
designed to be used only once for each site, and detach from the grabber before a new container is loaded
and used. The device is capable but not limited to collecting 3 samples. The sample container is
cylindrical with spherical ends, and has a 7in x 4in x 4in volume, which is capable of securing samples of
0.25 to 1.5 in easily.
Stratasys uprint 3D printers are going to be used to create prototype components of the device. Once
designs are finalized and any necessary revisions are made then aluminum machined and welded in the
design studio and machine shop at the University of Texas at El Paso to create the final device.

6. Equipment Description:
The main design of this device is similar to that of a pin
screen toy. There are a large number of rods loosely attached
to a perforated collar and only able to move in one direction.
Similar to the toy, this design can mimic the shape of any
object placed underneath it. By taking the shape of the
objects that needs to be collected, the device can be versatile
and used for many different samples of different size and
shape. When collecting object with this device, the rods are
forced tightly together and are locked in the shape of the
object. The object can then be removed, sealed and detached from the actuator handle.
The design
utilizes wedges of a precise geometry to lock the rods in place. The wedges work in a similar way to
collets used for milling machines or large drills. As the force on the outer surface of the collet increases,
the collet grips the drill bit tighter.

7. The wedges shown here are allowed to pivot on a joint connected to the perforated collar where
the rods are held. As the white casing moves down, the wedges are squeezed closer together which
applies a force to the rods and locks them in place. The casing is spring/rubber band drawn and guided by
a rail line on each of the wedges and perforated collar to ensure a smooth sliding motion until it reaches
the bottom.

8. Each rod is allowed to freely along the forward axis. This is possible because of the perforated collar and
foam support behind the rods. As the rods are pushed against the object they will displace, creating an
enclosing the object. At this stage the casing is released creating a horizontal force perpendicular to the
rods themselves. The rods degree of freedom reduces to zero. In the static equilibrium stage the object is
now restricted along with the rods.
Main Components:
The perforated collar to the right retains all
of the rods and keeps them the same
distance apart but allows each rod to move
freely within each hole.The rods will be
crimped at one end in order keep them from
falling out. This component will be
machined from aluminum and used in part
with 3D printed ABS rails.
Each wedge has a connecting rail that is
used to support and guide the casing as it’s moving into the open or closed position. The empty space
between the perforated component and the handle attachment is used to house a sponge. the sponge will

9. keep the rods in the forward flat
position. The sponge is designed to
absorb the movement of each rod
individually so the rods can act as a
pin screen. Attached directly to the
perforated collar is the rear cover
(shown in brown). The rear cover
houses the sponge and detaches
from the pistol grip.
The casing will be pulled back and
locked by the 2 tabs on the pistol
grip. when the trigger is pulled the
two tabs will bend in slightly
releasing the casing. The casing for
our methods is designed to not entrap
water. and to allow an unobstructed
view of the inner components for
testing. The final casing will be a
solid cylinder.
Shown here is the internal components
of the actuation mechanism. A cable is
attached to the two bendable snap links.
the trigger is mounted on a rectangular
extrusion printed along the inside face
of the handle. These extrusions guide
the trigger so that it can only move back
and forth.
When the casing fully engages and is closed. The whole pin screen assembly can be detached from the
pistol grip handle by twisting the casing 45 degrees and unlocking the rear cover.

10. The detachment mechanism is designed so that it can be attached easily regardless of the orientation angle
of the casing. The device connects with a twist lock mechanism. Both ends of this mechanism are
designed to be manufactured together with its connecting components. The
square tip will be paired to the rear cover of the pin screen device, and the opposite end will be made with
the pistol grip handle.
Shown above is a transparent view of the inner twist lock. The transparent end is part of the pistol grip
handle and will be manufactured as one component.
In accordance with challenge requirements, the pistol grip handle and pin screen device are both equipped
with a tether ring used to keep the device from floating away if released.

11. The device shown, tested and printed has a casing that has large gaps except for the columns where the
rails are connected the actual final design will be fully closed, aside from small holes so that it does not
entrap water.

12. MATERIAL AND WEIGHT:

13. Part Material Weight Quantity Total Weight lb
Rod ABS .5 1 .5
Straw Aluminum 6061 .012 165 2
Actuator ABS 1 1 1
Wedge ABS .3 6 1.8
Casing ABS .4 1 .4
Total Approximate weight: 5.7 lbs
Specific Parameters and /challenge requirements (NASA)
● The volume should be limited and use minimum space for storing purposes,therefore the
tool should be small and efficient.
○ The volume is 108 cm^3 which is smaller than the max allowed.
● Mass is a very crucial factor in any space mission due to effectivity on the cast of the
mission. For this reason the tool should be as light as possible.
○ Our final design weighs 5.7 lbs. None crucial parts 3d printed to reduce weight
● The material of the tool should be operating under a water environment with chlorine.
○ The material used is primarily ABS MG47 and aluminum ⅛ and 1/16 inch rods,
both of which have been tested in a chlorine environment and present no safety
hazards
● Capable of gathering3 samples from three different location without cross contamination.
○ The device consists of a single pistol grip handle with 3 identical pin screen
devices that are attached to the handle. Each device obtains one sample, closes,
and detaches from the handle at which point a new pin screen device is loaded for
new samples
● There will be three separate containers for each site to prevent contamination.
○ Each pin screen device completely seals the rock samples securely inside a
casing. Since each device is only used once, there is no risk for cross
contamination.

14. ● Sample will be stored in a protective container to avoid cross contamination and damage.
○ The container will be detachable. This allows for storage of the container without
risking the sample
● It is capable of gathering objects that range in size between 1.5 in to 0.25 in
○ The diameter of the pin screen rod section is a maximum of approximately 2.5
inches in order to obtain samples of various sizes ranging from 0.25 to 1.5 inches
● One handed simple operating device
○ The device utilizes a snap lock trigger mechanism that allows rock samples to be
captured by simply pulling a trigger with one hand
● Due to microgravity in space the tool may float away
○ Tether points are used for both the pin screen device and pistol grip handle
● Must work in vacuum.
○ The device does not use any sort of scooping motion or dragging motion and can
be used in any orientation. A soft sponge keeps the rods ready in the forward
position and allows them to retract into the device regardless of gravity.
● No hand entrapment or sharp edges
○ Moving rods are inclosed with the ring. The exposed portion risk is minimized by
reducing the space between rods.
● Must not retain water
○ The casing of the device has drainage ports so water will not be entrapped
● Must function with space glove
○ The device was designed to be used with a large glove by enlarging the handle to
reduce the force needed to squeeze handle.
● Must work in microgravity
○ The rods configuration allows for collection of sample without any scooping
motion. Secondary the sprung/band ring the slides down to tighten rods moves
with a light but quick impulse. The type of impulse greatly reduces the amount of
reactions forces.
Analysis and testing

15. Prototype description:
Our completed prototype was made using 2 different
Stratasys Uprint machines each with a different colored
filament. Each component was split into separate parts so
they could be printed much faster,without support
material. These parts were then glued together using a
plastic weld adhesive that fuses the plastic together into
one piece. Wooden skewer rods were used in place of
aluminum. A thick sponge is used behind the rods to keep
the rods in the forward ready position. The sponge
depresses and allows each rod to move independently.
The twist locking mechanism was also printed and test
fitted but is not shown here.
The Pin screen device is shown below without its outer
casing. The wedges were printed individually and glued in
place. The amount of rods we needed
Test Results:
Multiple tests were performed

16. Tests were performed in both dry and wet environments. Under water tests, included the
use of a large 6 gallon container with rocks of various sizes placed throughout the bottom. Tests
were performed using bamboo rods instead of aluminum rods due to an ordering issue where we
received a smaller number of aluminum rods than expected.
Unexpected Results:
The underwater test yielded one unexpected result; The
sponge used to keep the rods in the forward position
floats really well. to fix this, the rods were all slightly
pressed in order to squeeze the sponge and release the air
from it. We are looking into using a sponge of different
material and different cell size in order to prevent the
unwanted floating.
The other unexpected issue while testing, was our
manufacturing method for the perforated collar. The
Stratasys Uprint slicing the component STL file automatically and printed the part with too much space
between each hole. The gaps resulted in a weaker part and ultimately failed quickly.
Structure analysis:

17. A structure analysis was performed on each of the load bearing components using
Solidworks and applied forces.
The Casing Ring analysis:
The material that been used for this part is ABS with yield stress as 40 MPa. the
boundary condition for this case is fixed face on the top as it presented with green arrows
and the force was applied on the inner face of the collar acting out with 0.5 Lb. The result
that we got was: Maximum displacement was on the other side of the fixed face with 1.1
e-4 mm. the Maximum stress was below the fix face with 4.1 e4 Pa. with safety factor of
970
The Rear Cover analysis:
The material that been used for this part is ABS with yield stress as 40 MPa. the
boundary condition for this case is fixed face on the top as it presented with green arrows
and the force was applied on the bottom face of the cover acting out with 1 Lb . The
result that we got was: Maximum displacement was on the other side of the fixed face
with 0.95 mm. the Maximum stress was below the fix face where the change of area with
1.77 e5 Pa and safety factor of 225.

18. The Perforated Collar analysis:
The material that been used for this part is ABS with yield stress as 40 MPa. the
boundary condition for this case is fixed face on the sides as it presented with green
arrows and the force was applied on the inner face of the collar acting out with 1 lb. acting
on each inner hole for the first and second rows . The result that we got was: Maximum
displacement was on the third row with 2.7 e-4 mm. the Maximum stress was below the
fix face with 1.6 e5 Pa and safety factor 265
The Pistol Grip analysis:
The material that been used for this part is ABS with yield stress as 40 MPa. the
boundary condition for this case is fixed face on the handle as it presented with green
arrows and the force was applied on the face of the front face acting in with 10 lb. The
result that we got was: Maximum displacement was on the cylinder face with 2.7 e-2
mm. the Maximum stress was next the fix face with 6.15e5 Pa and safety factor of 65

19. The Rods analysis:
The material that been used for this part is Aluminum 6061 T6 with yield stress as
41.37 MPa. the boundary condition for this case is fixed face on the top as it presented with
green arrows and the force was applied on the inner face of the collar acting in with 0.5 Lb. The
result that we got was: Maximum displacement was on the other side of the fixed face with 0.25
mm. the Maximum stress was below the fix face and with very narrow area with 2.67 e7 Pa and
safety factor of 1.5
The Wedge analysis:

20. The material that been used for this part is ABS with yield stress as 40 MPa. the
boundary condition for this case is fixed face on the bottom as it presented with green
arrows and the force was applied on the top tip of the collar acting like claim beam with
10 Lb. The result that we got was: Maximum displacement was on the other side of the
forced applied face with 0.3 mm. the Maximum stress was below the fix face with 1.97
e6 Pa and safety factor of 65.
Operation Plan
Pool Operation
The device is designed with the intention of testing in water. The pool is set up so that there will be a
method of testing micro-gravity on earth. Noted though that while it is the most efficient way to test it is
limited in how accurate it can be to the environment of the asteroid.
In order to compensate for the pool testing environment the device itself is designed with drainage so that
it will not retain. As well to this feature it was decided that based on the duration of time that the grabber
will be submerged in pool the chlorine context of the pool is negligible.
Test Objectives
The objective of the testing in the MBA is to replicate the environment of an asteroid as best as possible.
The goal is to successfully obtain sample. At this point we will be rated on how effective the device can
obtain sample, did it meet all requirements and its ease of use.

21. Operation Procedure Stepby Step TestPlan
Operation Instructions:
Begin with the pistol grip tethered securely at tether point.
1. Hold the pistol grip firmly with one hand and attach the front end to the rear cover of the pin
screen device. The square tip at the end of the rear cover of the device fits directly into the tip of
the pistol grip. Twist the device counterclockwise relative to the handle to lock.
2. Open the casing cover at the end of the pin screen device
3. Pull back the outer casing exposing the pins and wedges. The casing will click onto a pair of snap
clips on the pistol grip handle.
4. When capturing a rock sample, place the rods over the desired rocks and apply a slight downward
pressure to allow the rods to take the proper shape over the object.
5. Pulling the trigger on the pistol grip handle slides the casing down and squeezes the collet style
wedges,locking the rods in place and capturing the object.
6. Close the casing cover
7. Twist the pin screen device counter-clockwise relative to the handle and pull apart.
8. Repeat steps 1-7 for collecting new samples
Institutional Review Board.
An Institutional Review Board approval is not required; the experiment does not involve human
or animal test subjects or biological tests.
Hazard Analysis.
Sharp points or edges.
Caution not to puncture suit or other devices. All moving components are enclosed to avoid this
situation. The only exposed is the tips of straws don't aim at suit.
Collisions.
Caution not to hit with device. Speed of device floating should not cause damage. What if it is
flung by accident
Crushing forces.

22. If hand, glove or item gets stuck when capsule is closing.
Falling on Diver ( For pool)
when operating in pool environment due to some gravity caution must be used that device
shall not fallon divers head
Ground Support Requirements.
Non applicable unless for storage
Forward Plan
At the point of primary testing has been completed and the issues have been identified
construction of the final design can begin.
4/1 Final Design completed and construction begins
4/1 - 4/20 Identifying complications/issues and solving these issues
4/15 Revise small components
4/20 TEDP report due
4/20 Order new parts forconstruction
4/23-4/24 Parts Arrive
4/23-4/28 Construction of Device
4/29 Testing
Transportation of Device
Device will be transported with us by car. In a large duffle bag.
List of Items brought to NBL
● Float Sample Grabber
● Screwdriver
● Glue
● Extra Parts as needed