TY - GEN
T1 - Design of a hammer-driven type robot(HDR) for planetary subsurface exploration
AU - Xu, Chuanxi
AU - Liu, Wei
AU - Jiang, Shengyuan
AU - Shen, Yi
AU - Deng, Zongquan
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - This paper proposes a novel hammer-driven type robot(HDR) for science-oriented investigations such as chemical composition, geothermal gradient, mechanical properties of regolith on the planetary subsurface. The HDR penetrating itself smoothly into the planetary regolith mainly depends on two aspects: one is the powerful energy storage ability and the other is the perfect energy delivery efficiency. In this paper, firstly, the energy distribution in HDR working process is discussed, and a separating design of the shell is proposed to improve the energy delivery efficiency. Secondly, the powerful energy storage mechanism is elaborately designed to achieve the perfect penetrating performance. Finally, the prototype of HDR is built and experiments are conducted on the testbed to validate its feasibility. Among those experiments, the HDR successfully penetrating itself into a maximum depth of 806mm in the simulant regolith(CUG-1A, relative compaction 49%), and demonstrate that it is feasible for HDR to make the borehole and carry out the planetary subsurface investigations.
AB - This paper proposes a novel hammer-driven type robot(HDR) for science-oriented investigations such as chemical composition, geothermal gradient, mechanical properties of regolith on the planetary subsurface. The HDR penetrating itself smoothly into the planetary regolith mainly depends on two aspects: one is the powerful energy storage ability and the other is the perfect energy delivery efficiency. In this paper, firstly, the energy distribution in HDR working process is discussed, and a separating design of the shell is proposed to improve the energy delivery efficiency. Secondly, the powerful energy storage mechanism is elaborately designed to achieve the perfect penetrating performance. Finally, the prototype of HDR is built and experiments are conducted on the testbed to validate its feasibility. Among those experiments, the HDR successfully penetrating itself into a maximum depth of 806mm in the simulant regolith(CUG-1A, relative compaction 49%), and demonstrate that it is feasible for HDR to make the borehole and carry out the planetary subsurface investigations.
KW - hammer-driven type robot
KW - large energy storage
KW - penetrating
KW - planetary subsurface exploration
UR - https://www.scopus.com/pages/publications/85049901932
U2 - 10.1109/ROBIO.2017.8324426
DO - 10.1109/ROBIO.2017.8324426
M3 - 会议稿件
AN - SCOPUS:85049901932
T3 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
SP - 252
EP - 257
BT - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Y2 - 5 December 2017 through 8 December 2017
ER -