Mars rover rock abrasion tool performance enhanced by ultrasonic technology.

The Mars exploration Athena science goal is to explore areas where water may have been present on the early surface of Mars, and investigate the palaeo-environmental conditions of these areas in relation to the existence of life. The Rock Abrasion Tool (RAT) designed by Honeybee Robotics has been one of four key Athena science payload instruments mounted on the mechanical arm of the Spirit, Opportunity and Curiosity Mars Exploration Rovers. Exposed rock surfaces weather and chemically alter over time. Although such weathered rock can present geological interest in itself, there is a limit to what can be learned. If the geological history of a landing site is to be constructed, then it is important to analyse the unweathered rock interior as clearly as possible. The rock abrasion tool's role is to substitute for a geologist's hammer, removing the weathered and chemically altered outer surface of rocks in order to view the pristine interior. The RAT uses a diamond resin standard common grinding technique, producing a 5mm depth grind with a relatively high surface roughness, achieved over a number of hours per grind and consumes approximately 11 watts of energy. This study assesses the benefits of using ultrasonic assisted grinding to improve surface smoothness. A prototype Micro-Optic UltraSonic Exfoliator (MOUSE) is tested on a range of rock types and demonstrates a number of advantages over the RAT. In addition to a smoother grind finish, these advantages include a lower rate of tool tip wear when using a tungsten carbide tip as opposed to diamond resin, less moving parts, a grind speed of minutes instead of hours, and a power consumption of only 1-5 Watts.