Simulated Regolith Testing of Origami-Based Covers for Space Robots

A novel benchtop method is presented for evaluating abrasion-induced damage and particulate intrusion in flexible, origami-based covers intended for planetary exploration. Using a rock tumbler with silicon carbide grit as a regolith simulant, this compact, repeatable setup simulates continuous abrasion in a controlled laboratory environment. The protocol enables rapid design iteration by accelerating wear within a $\mathbf{2 4}$-hour cycle, making it well suited for earlystage validation of protective structures. Weight measurements and image-based tear analysis were used to assess regolith accumulation and structural failure across cover designs with 3, 4, and 5 pleats. Results found using the proposed approach showed that increased pleat count led to more frequent and distributed tearing, particularly at fold intersections. However, these tears generally reduced particulate accumulation, suggesting a trade-off between flexibility and environmental protection. The approach can be extended to other simulants, including returned regolith, offering a scalable framework for qualifying protective structures in space robotics.