Chapter
Jul 11, 2012
Subsurface Explorer Robot with Peristaltic Crawling Mechanism
Authors: Takashi Kubota [email protected], Hayato Omori [email protected], Taro Murakami [email protected], Hiroaki Nagai [email protected], and Taro Nakamura [email protected]Author Affiliations
Publication: Earth and Space 2012: Engineering, Science, Construction, and Operations in Challenging Environments
Abstract
In recent years, unmanned planetary explorations have received a lot of attention in the world. Direct exploration missions to land softly and traverse on the surface of the moon or other planets have been studied and planned in the world. Japan has earnestly studied lunar lander-rover missions. In these missions, it is required to conduct in-situ analysis of geological samples and deploy devices for measurement and observation. Recently deep drillers or penetrating systems have been required to obtain deep data for subsurface exploration. In lunar or planetary missions, it is needed to excavate the regolith layer, which covers the lunar surface, in depth of several meters. This paper, describes lunar or planetary mission scenarios and scientific requirements. A detailed surface and subsurface exploration by a mobile explorer is presented. Then this paper proposes a worm-typed drilling robot which is maneuverable in regolith by peristaltic crawling and the developed earth auger. A new mechanism to move forward in the soil is described. A propulsion unit using dual pantographs with a large area of an expansion plate is developed. The drilling function is studied by analyses and some experiments. The experimental results show the feasibility of the proposed robot.
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© 2012 American Society of Civil Engineers.
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Published online: Jul 11, 2012
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Institute of Space and Astronautical Science, JAXA, 3-1-1, Yoshinodai, Chuo-ku, Sagamihara 252-5210, Japan. E-mail: [email protected]
Department of Precision Mechanics, Chuo University, 1-13-27, Kasuga, Bunkyo-ku, Tokyo 113-8551, Japan. E-mail: [email protected]
Department of Precision Mechanics, Chuo University, 1-13-27, Kasuga, Bunkyo-ku, Tokyo 113-8551, Japan. E-mail: [email protected]
Department of Precision Mechanics, Chuo University, 1-13-27, Kasuga, Bunkyo-ku, Tokyo 113-8551, Japan. E-mail: [email protected]
Department of Precision Mechanics, Chuo University, 1-13-27, Kasuga, Bunkyo-ku, Tokyo 113-8551, Japan. E-mail: [email protected]
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