Precision Scoop and Sampling End-Effector
Articulated Scoop with Capacitive Sample-Volume Sensor
The precision scoop and sampling end-effector is a five-kilogram articulated robotic arm tool engineered to acquire selective 500-cubic-centimeter regolith batches for ore-grade analysis and feedstock blending. Operating across lunar temperatures spanning -180 °C to +130 °C, the unit utilizes a wear-resistant tungsten carbide edge and diamond-like carbon coatings to resist abrasive wear and electrostatic dust clumping. To overcome reduced normal force in 1/6 g, the scoop tilts through its digging stroke to apply bucket weight as cutting force, while an integrated capacitance probe verifies sample volume within five percent.
Articulated robotic arm end-effector with a metered scoop bucket for precision small-batch regolith acquisition, science-grade sampling, and targeted material collection from specific locations identified by ore-grade mapping.
Purpose
Provide selective, small-volume acquisition of regolith for ore-grade analysis (L3-ISR-CTRL-QA), feedstock blending optimization, and special-purpose sampling that the bulk bucket-wheel cannot perform.
Context
Mounted on a robotic arm (L1-ROB) or as a dedicated end-effector. Outputs to small hoppers or sample-analysis instruments. Cooperates with L3-ISR-EXC-BWE — scoop handles selective dig, BWE handles bulk.
Principles
- ▸Scoop-and-deposit cycle: position over target → close fingers → lift → traverse → release into receptacle
- ▸Sample-volume sensing via capacitance probe or load cell on scoop arm
- ▸Lower normal force in 1/6 g compensated by digging-stroke geometry: scoop tilts to use bucket weight as cutting force
- ▸Heritage from Apollo lunar surface tools, Surveyor scoop, Phoenix Mars lander, Curiosity rover
- ▸Compact 100–500 cm³ sample size matches needs of mass spectrometers and lab-on-chip instruments
- ▸Multi-DOF wrist orients scoop for trench cutting, surface skimming, or specific-location dig
Typical implementations
- ▸Phoenix Mars Lander Robotic Arm scoop (Honeybee Robotics)
- ▸Curiosity / Mars 2020 Sample Acquisition System (with drill, plus scoop alternative)
- ▸Apollo Lunar Surface Hand Tools (LSHT) — heritage manual scoops
- ▸Surveyor 3 / Surveyor 7 surface samplers (NASA, 1967-1968)
- ▸Honeybee Robotics commercial planetary surface tool family
Lunar considerations
- ▸Lunar dust accumulates on scoop edges and inside bucket — periodic shake/clean cycle
- ▸Charged dust causes electrostatic clumping/sticking — anti-static coatings (DLC) help
- ▸Wide temperature range (–180 to +130 °C) drives material/lubricant selection
- ▸Small mass (~5 kg) allows simple deployment on existing L1-ROB platforms
- ▸Sample-volume accuracy critical for ore-grade analysis — capacitive sensor calibrated against known volumes
- ▸Long-duty-cycle bearings need vacuum-rated dry-film lubrication
Specifications
Functional
| primary function | Precision small-volume regolith scooping and sample delivery |
| inputs | Arm-position commands from L1-ROB controller, Target-location coordinates from L3-ISR-CTRL-SCHED, Power for actuators |
| outputs | Metered regolith batches (100–500 cm³), Sample volume / mass telemetry, Scoop torque + position telemetry |
| scoop capacity cm3 | 500 |
| sample volume accuracy percent | 5 |
| deposit location accuracy mm | 10 |
| scoop cycle time s | 30 |
| max continuous cycles per day | 1000 |
| operating temperature c | -180, 130 |
Physical
| mass kg | 5 |
| dimensions | 300 × 150 × 100 mm (scoop bucket + wrist) |
| materials | Titanium 6Al-4V scoop body (strength + thermal stability), Tungsten carbide bucket edge (wear-resistant), DLC (diamond-like carbon) coating for dust release, Stainless 17-4 PH actuator linkages, MoS2 dry-film lubrication on joints, Capacitance probe + strain gauge sensors |
| operating temperature c | -180, 130 |
| vacuum compatibility | True |
| ultimate load g | 8 |
Operational
| power consumption w | 30 |
| thermal range c | -180, 130 |
| lifetime hours | 10000 |
| mtbf hours | 8000 |
| scoop replacement interval cycles | 100000 |
Interfaces
Provides
- Sampled regolith for ore-grade analysis
- Targeted feedstock for blending
Requires
- Robotic arm platform for positioning
- Sample-location plans
- Actuator power (~30 W)
Cite this entry
Lunar Ark Codex. "Precision Scoop and Sampling End-Effector" (L3-ISR-EXC-SCO). Retrieved 10 September 2026, from https://lunarark.com/entry/L3-ISR-EXC-SCO
Licensed CC-BY-SA 4.0. You may reuse and adapt this entry with attribution, under the same licence.