Design and verification of flexible penetrometer for planetary subsurface exploration

In-situ extraction of geological information from planetary subsurfaces is of great importance. To achieve this goal with low power consumption and deep penetration, a novel subsurface sounding system for planetary regolith exploration is proposed based on the operating principle of tape measures. Penetration model analysis and validation were conducted. The penetration mechanics of the penetrator head and body were modeled separately, and static penetration tests were performed to verify the feasibility of the penetrator and modify the penetration load model. As the structural design of the penetrator was completed, a cam-based impact clamping scheme was proposed. The impact system dynamics model was established to analyze the effect of pene-tration resistance and kinetic parameters on the penetration capability of the penetrator. The principle prototype of the penetrator was developed, and a load-free simulated planetary regolith penetration test system was built to verify the correctness of the design. This study may provide technical support for the future application of flexible detectors in planetary exploration.