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For Planet I use a small vertical Atmos miner :
https://steamcommunity.com/sharedfiles/filedetails/?id=1327567718
In Space I use Ion thrusters with a few Hydros to help moon mining :
https://steamcommunity.com/sharedfiles/filedetails/?id=1402259191
Don't forget to test the ''inventory mass'' > go survival and full it to see if it can fly.
If not enough thrusters = it may not be able to move or fall on the soil on Planets when full.
However, there are ways of getting around this problem. On planets, a lot of people will build large drillheads suspended from flying gondolas to dig out large pits. I myself am a fan of dredge miners, which strip mine whole ore bodies from the surface;
https://steamcommunity.com/sharedfiles/filedetails/?id=1172407232
In space, things are easier. I've gotten good result with one-block-height drillhead that extends just passed the width of the ship. I just point the drills at an asteroid, set a gyro override to slowly roll the ship, and move a little closer every half-revolution. It's like a cross between a combine harvester and a tunnel borer.
Large grid miners are difficult, but really worth trying out. Not only is mining is one of the few mechanics the game supports, it does it pretty darn well. It's very satisfying to design, build, and operate a ship that brings in ore by the large cargo container-load.
this can be a bit more of a challenge on planets though.
also your not using any mods for large ship drills are you? i tried using the keen posted drill power mod where you can add a module to boost the mining power, but all it seemed to do was nerf non modded drill power.
of course she was a bit slow due to only being equipped with small thrusters, but after going through an asteroid 3 or 4 times, in almost every case there was pretty much nothing left of it. i really miss that ship lol
i might still have some screenshots around, hang on let me check.
edit: no screenshots, unfortunately, but i still have it as workshop object, for some random reason (must have uploaded it at some point, though i don't really remember why)
https://steamcommunity.com/sharedfiles/filedetails/?id=476792620
Small drills can safely drill when you leave 3 whole blocks between them.
I'll be shameless and do a little self advertisement:
https://steamcommunity.com/sharedfiles/filedetails/?id=1349487971
It's mah baby, it can do automated drilling and semi auto mining. Just go near the asteroid and mining starts. Back off to stop.
It has all you need, mix and match, mining, refining, traveling in industrial style!
Rotation mining is the way to go if you don't wana stuff the front full of drills and kill your simspeed.
There are links that inspired the ship, they are awesome fun designs.