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https://oni-assistant.com/tools/rocketcalculator
This would require far more effort and space to build and to be honest I don't think it's worth it. The only thing is that you accumulate data banks faster.
It's more worth it then you think because you waste less steam to bring all 9 up at once then a few at a time. Also takes less time to get more databank since it takes 1 trip for all 9. You can use it as a databank farm to give you research while you are building your petroleum rocket or hydrogen rocket.
Research modules only cost 200 steel which is cheap compared to setting up another rocket so stack as many as you are able for more efficiency.
God bless whoever made the rocket calculator.
TLDR: for easiest research, send a rocket with 5 research modules to each planet, then move onto the next planet. Not 6, not 9, 5. Reasons below.
So if you look at the screenshot below, on the right there's a research icon with 5 bubbles with green check boxes. First one says "study upper atmosphere." Those are the planet's areas -- each planet has 5. When you explore one, the green check appears.
Research modules bring back 50 databanks from an unexplored part of the planet (which gives you 50 research points in the planetarium). They bring back (I think) 10 from an explored part (Not exactly sure, I don't often send those). A science module can explore 1 planet area in each visit. Planets have 5 areas. Thus, if you want maximum science gains, send a rocket with 5 modules to each planet once. That will completely explore all the areas (giving you 250 databanks), and you can move on to the next planet.
If you're milking research out of a already explored planet (maybe you didn't get petrol engines yet and can't reach an unexplored planet until you get another 400 research) then more is better.7 modules will bring back 70 databanks.
Now... the reason people say you need 6 is because you get an artifact for exploring areas with a (!!) icon (artifacts may not be the right word... I'm talking abou vascilator recharges and the fancy decor items). There may be a rounding error so you may get 49.999 databanks of the last area... that's realistically all the ressearch, but not enough to explore it and trigger getting the green check and the artifact. So people say bring a 6th, just to be safe.
Anyway, hope that helps.
https://steamcommunity.com/sharedfiles/filedetails/?id=1842505179
The reason is - you will have to send research modules to already researched planets anyway with steam rocket, might as well send 9 modules (maximum possible for steam/10k) to reduce number of missions you need to get to petroleum/oxylite engine.
After that's done yes, no need to send more than 5 for the reason you described.
Also in case oxylite is problematic (no gold or just do not want to bother), it is possible to get all the way to petoleum/LOX and LH2/LOX by just setting a couple of automated steam rockets with 9 modules to 10K asteroids. No reason to use 5 modules in this case.
Exploring the area with a (!!) icon reveals the unknown resource (such as isoresin) that you can then bring back in your cargo hold.
Decor items I think I brought regardless of whether you have science modules or not, there are rarity and chances listed on each planet's information side panel.
In regards to vascilator recharge, I have never seen this one yet and I have been sending rockets up to 40000km for a few hundred cycles already. Only recently started to send them to 60000km. Are they just artifacts with higher rarity (and lower chance to obtain) that are only available on further asteroids?