Full-scale dynamic touch-and-go validation of the BiBlade comet surface sample chain

This paper presents the validation of the end-to-end BiBlade comet surface sampling chain, including Touch-and-Go (TAG) activities. The sampling chain consists of the BiBlade sampler, a structural compliant interface to a would-be spacecraft, a 3 degree-of-freedom planar robotic arm, a sample volume measurement device, and two sample vaults. The end-to-end sample chain is integrated into a purpose built full-scale dynamic spacecraft emulator, enabling to be performed the full sequence from surface approach to collected sample storage. Touchdown, sample triggering, sample acquisition, and ascent from surface are a critical set of sequences dependent on spacecraft dynamics and the sampler interaction with a comet surface. Of special importance are the rotational and linear inertias provided by the 2200kg spacecraft emulator during TAG operations. The full-scale dynamic spacecraft emulator is intended to validate these complex interactions between the sampler, comet surface simulants, and spacecraft mass. The full-scale dynamic Touch-and-Go spacecraft emulator consists of a 2200kg mass on a frictionless, planar air bearing system, 14 horizontal air thrusters providing 3 degree-of-freedom motion, onboard computing for motion control, and an off-board motion capture system providing localization. This robotic testbed can approach a simulated comet surface in a controlled fashion to validate the BiBlade TAG performance in nominal and off-nominal approach velocity scenarios. Following TAG, sample transfer, volume verification, and storage is performed.