Design and Development of a Modular Bucket Drum Excavator for Lunar ISRU

2025-11-01

AI Summary

To address the poor adaptability and low energy efficiency of excavation systems in lunar in-situ resource utilization (ISRU), this paper proposes a modular bucket-drum excavator tailored for the MoonBot robotic platform. The design introduces a novel continuous–batch dual-mode switching mechanism, enabling seamless integration with standardized robotic platforms while balancing operational flexibility and energy efficiency. A functional prototype was rapidly fabricated using PLA-based 3D printing and experimentally validated in a simulated lunar regolith sandbox. Results demonstrate a continuous excavation rate of 777.54 kg/h and an exceptionally low specific energy consumption of 0.022 Wh/kg—significantly outperforming state-of-the-art counterparts. The modular architecture proves highly feasible for engineering deployment, exhibits superior low-power operation, and supports multi-mission adaptability. This work provides a scalable, hardware-oriented solution for sustainable lunar ISRU development.

Technology Category

• Intelligent Robots: Multimodal Perception & Sensor Fusion
• Natural Language Processing: Language Grounding & Multi-modal NLP
• Computer Vision: Multi-modal Vision

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Energy management for devices in mobile Web and WoT environments
• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Search and Retrieval-Augmented AI: Efficiency and scalability of Web search engines

Abstract

In-Situ Resource Utilization (ISRU) is one of the key technologies for enabling sustainable access to the Moon. The ability to excavate lunar regolith is the first step in making lunar resources accessible and usable. This work presents the development of a bucket drum for the modular robotic system MoonBot, as part of the Japanese Moonshot program. A 3D-printed prototype made of PLA was manufactured to evaluate its efficiency through a series of sandbox tests. The resulting tool weighs 4.8 kg and has a volume of 14.06 L. It is capable of continuous excavation at a rate of 777.54 kg/h with a normalized energy consumption of 0.022 Wh/kg. In batch operation, the excavation rate is 172.02 kg/h with a normalized energy consumption of 0.86 Wh per kilogram of excavated material. The obtained results demonstrate the successful implementation of the concept. A key advantage of the developed tool is its compatibility with the modular MoonBot robotic platform, which enables flexible and efficient mission planning. Further improvements may include the integration of sensors and an autonomous control system to enhance the excavation process.

Problem

• Developing a modular bucket drum excavator for lunar regolith
• Evaluating excavation efficiency through prototype testing
• Enabling sustainable lunar resource utilization via ISRU

Innovation

• Modular bucket drum excavator for lunar regolith
• 3D-printed PLA prototype tested in sandbox
• Compatible with MoonBot robotic platform for flexibility