This article presents the evolution of the first-ever robotic DRD-based penetrator for planetary exploration, as it transfers from a proof-of-concept test bench through to a prototype of the system. The architecture that has been selected is an internal actuation mechanism integrated into the drill head, driven by a conventional motor drive and with a bistable composite OHF and deployment mechanism. The new modified test bench is demonstrated to characterize the drilling technology, with the aim to test the full DRD system in the near future. The DRD has now been developed into a first prototype capable of drilling up to depths of 500 mm in planetary regoliths, with initial experiments showing the relationships between the penetration rate, frequency, and amplitude. The architecture can now be moved to the next stage of development by demonstrating a fully integrated system and exploring the addition of a hybrid drilling mechanism.

As we explore our solar system and other bodies, access to the subsurface plays a vital role. It allows us to peer back into the history of that body, looking for life or signs that it may have been habitable. In order to gain access to this buried treasure a form of drill or penetrator is required. In a microgravity environment this presents a number of engineering issues that the technology proposed in this paper can assist with. Dual-Reciprocating-Drilling (DRD) is a new biologically inspired technology based on the drilling concept of the Wood Wasp Ovipositor which can burrow deep into wood in order to lay eggs. The DRD is a scalable system consisting of two backward facing teethed halves that reciprocate in opposition to one another in order to generate a drilling force that reduces the overall force required to achieve penetration. From the results of previous experimentation the DRD system developed here at the Surrey Space Centre (SSC) is evolving to include the drive mechanism within the head of the drill, as well as including bays for scientific instrumentation that can be delivered below the surface.