Conclusions A 3-kg rotary percussive core acquisition drill was developed under this effort. The system consists of two  actuators and was able to drill cores, break and capture cores, and actively mate and de-mate with drill bits. This design fits within the JPL-derived IMSAH architecture and has mass, volume, power, and  energy specifications that would enable deployment and operation from an MER or MER+ class rover or  larger. Results from tests performed with this RANCOR drill proved that this design is fully capable of meeting the goals of a MSR mission. However, there were lessons learned here that would help to improve future designs of this type of drill and future drill systems. Also, much more testing is necessary  to help ensure the life of the components within the drill will be sufficient for providing up to 30 cores plus  margin for a MSR mission. Tests also should be performed at Mars atmospheric pressure. Acknowledgements This work was funded by the NASA Small Business Innovative Research (SBIR) Program. We owe our  sincere thanks and appreciation to the NASA SBIR program and the COTRs: Paul Backes, Kristo Kriechbaum, Kerry Klein, and Lori Shiraishi. References 1. S. Hayati, Technology Planning for Future Mars Missions, MEPAG, 29-30 July 2009  2. Chu P., J. Spring, K. Zacny, ROPEC – ROtary PErcussive Coring Drill for Mars Sample Return, 42nd  Aerospace Mechanisms Symposium will be May 14-16, 2014 in Baltimore, Maryland. 3. K. Klein, et al. “Rotary Percussive Sample Acquisition Tool (SAT): Hardware Development and  Testing.” Proceeding of the 41 stAerospace Mechanism Symposium, Jet Propulsion Laboratory, May  16-18, 2012. 4. Backes, P.; Lindemann, R.; Collins, C.; Younse, P.; An integrated coring and caching concept,  Aerospace Conference, 2010 IEEE, 10.1109/AERO.2010.5446985 5. Myrick., T., US Patent No. 6,550,549, "Core Break-off Mechanism" 6. Joseph E. Shigley and Charles R. Mischke. /g48/g72/g70/g75/g68/g81/g76/g70/g68/g79/g3/g40/g81/g74/g76/g81/g72/g72/g85/g76/g81/g74/g3/g39/g72/g86/g76/g74/g81/g3/g54/g76/g91/g87/g75/g3/g40/g71/g17 McGraw-Hill,  2001. 7. GotTransmissions.com. (2014, January 3). /g36/g88/g87/g82/g80/g68/g87/g76/g70/g3/g55/g85/g68/g81/g86/g80/g76/g86/g86/g76/g82/g81/g3/g54/g83/g85/g68/g74/g3/g38/g79/g88/g87/g70/g75/g72/g86/g3/g39/g72/g73/g76/g81/g72/g71 . http://www.gottransmissions.com/blog/transmission-components-technology-definedexplained/automatic-transmission-sprag-clutches-defined.  8. Pytel et al. “Fatigue behavior of helical compression springs at a very high number of cycles –  Investigation of various influences.” International Journal of Fatigue (2013). 9. Paulsen, G., K. Zacny, M. Szczesiak, C. Santoro, B. Mellerowicz, J. Craft, C. McKay, B. Glass, A.  Davila, M. Marinova. /g55/g72/g86/g87/g76/g81/g74/g3/g82/g73/g3/g68/g3/g20/g3/g80/g72/g87/g72/g85/g3/g48/g68/g85/g86/g3/g44/g70/g72/g37/g85/g72/g68/g78/g72/g85/g3/g39/g85/g76/g79/g79/g3/g76/g81/g3/g68/g3/g22/g17/g24/g3/g80/g72/g87/g72/g85/g3/g57/g68/g70/g88/g88/g80/g3/g38/g75/g68/g80/g69/g72/g85/g3/g68/g81/g71/g3 /g76/g81/g3/g68/g81/g3/g36/g81/g87/g68/g85/g70/g87/g76/g70/g3/g48/g68/g85/g86/g3/g36/g81/g68/g79/g82/g74/g3/g54/g76/g87/g72/g17 AIAA SPACE 2011 Conference & Exposition, Long Beach,  September 26-29, 2011 10. Zacny K., Paulsen G., McKayC. P., Glass B., Davé A., Davila A.F., Marinova M., Mellerowicz B.,  Heldmann J., Stoker C., Cabrol N., Hedlund M., and Craft J. /g53/g72/g68/g70/g75/g76/g81/g74/g3/g20/g3/g80/g3/g39/g72/g72/g83/g3/g82/g81/g3/g48/g68/g85/g86/g29/g3/g55/g75/g72/g3 /g44/g70/g72/g69/g85/g72/g68/g78/g72/g85/g3/g39/g85/g76/g79/g79/g17/g3 Astrobiology. December 2013, 13(12): 1166-1198. doi:10.1089/ast.2013.1038. 11. Zacny, K., J. Wilson, P. Chu, and J. Craft, Prototype Rotary Percussive Drill for the Mars Sample  Return Mission, Paper #1125, IEEE Aerospace conference, 5-12 March 2011, Big Sky, Montana. 230