Combine a
better ion thruster with a nuclear reactor and a lot of Xenon. Or better multiple reactors with multiple engines. Then wait.
At an exhaust velocity of 210km/s, you need e^5 or roughly 150 times the final ship mass as propellant. You can escape the solar system for free with clever gravitational slingshots - this will also give a few km/s final velocity, but that is negligible here.
It is hard to find numbers for power/weight of nuclear reactors. Thermoelectric generators reach 5W/kg. Let's be pessimistic and assume a nuclear reactor just doubles this number to 10W/kg. To power our ion thruster with 250kW design power, we need a reactor with a mass of 25 tons. Let's add 5 tons for radiators, support structure and so on. Therefore, a possible last stage of the rocket will have an initial mass of 90 tons, roughly 60 tons of xenon. With a thrust of 2.5N, it will have an acceleration of 3*10
-5 N, later going up to 10
-4 N. To get its velocity change of 210km/s, we have to wait ~150 years. With this design, the rocket will need 5 stages, for a total acceleration time of ~750 years. I have no idea how to design a rocket that will work for this timescale...
Everything scales with power density. If you believe the various claims for possible small-scale nuclear reactors (at least one of them), you might get something like ~20 MW electric power within 20 tons, a power density of ~1000W/kg. At that level, radiators are certainly important, but this thing can power 80 ion thrusters, and you get the same thing done in just 10 years.
The overall mass of the ship would be ~7000 tons, that is within the reach of current technologies. The ship would be assembled in orbit, the heaviest parts are the nuclear reactors. A Delta IV can launch 22 tons, Falcon Heavy aims for 50 tons, SLS for >100 tons. It would be extremely expensive, but possible to build such a thing within a reasonable timescale.There are certainly more futuristic ideas.
Vasimr aims for an even higher exhaust velocity, and all the various fission and fusion concepts might give a much better performance as well.
http://en.wikipedia.org/wiki/Project_Orion_(nuclear_propulsion) (10 000km/s with fission bombs)
http://en.wikipedia.org/wiki/Project_Daedalus (35 000km/s with fusion)
http://en.wikipedia.org/wiki/Project_Longshot (10 000km/s, fission to ignite fusion)
http://en.wikipedia.org/wiki/Project_Valkyrie (antimatter to ignite fusion)
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