Experimental study on autonomous burrowing screw robot for subsurface exploration on the Moon

Nagaoka, Kenji; Kubota, Takashi; Otsuki, Masatsugu; Tanaka, Satoshi

doi:10.1109/iros.2008.4650693

Cited by 32 publications

(16 citation statements)

References 5 publications

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“…Figure 20 shows the graph of pushing stress σ vs. shearing force τ graph obtained from the experiment. The internal friction angle φ of 25.2 degrees was from the graph and equation (6). This value was slightly lower than the references: from 36 to 43 degrees of the soil angle by Lundgren's calculation [13].…”

Section: Shearing Test In a Boreholementioning

confidence: 74%

“…Small, unmanned subsurface excavation robots have been developed, e.g., PLUTO [3], percussive heat flow probe [4], moletype drilling robot [5], autonomous burrowing screw robot [6], and a robot that uses a self-turning screw mechanism [7]. PLUTO, which is equipped with a spring-loaded hammer and a sampling device on its top, can excavate to a depth of about 2000 mm but it contains insufficient space for a seismometer.…”

Section: Introductionmentioning

confidence: 99%

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Study on Geotechnical Tests with a Lunar Subsurface Explorer Robot Using a Peristaltic Crawling Mechanism

Mizushina

Omori

Kitamoto

et al. 2015

SICE Journal of Control, Measurement, and System Integration

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: Recently, planetary investigations have accumulated basic data through various aerospace explorations. However, the investigations of underground such as moonquakes, heat, and conditions of the soil have not revealed much. Therefore, the authors have developed a novel, small planetary subsurface excavation robot that uses the peristaltic crawling of an earthworm as its underground propulsion method. In this study, the authors focused on two types of geotechnical tests: pressure meter and shearing tests using the excavation robot. These tests were conducted by measuring displacement and force in the radial and vertical directions inside the soil, using the excavation robot's own hardware system. This paper describes these geotechnical tests, which used the propulsion unit of the robot and measured the soil parameters, e.g., internal friction angle, adhesibility, and elastic constant. From the experiments, the authors evaluated and discussed results by comparing with reference data. The authors confirmed that the propulsion unit could measure the soil parameters and propel itself underground at the same time.

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Section: Shearing Test In a Boreholementioning

confidence: 74%

Section: Introductionmentioning

confidence: 99%

Study on Geotechnical Tests with a Lunar Subsurface Explorer Robot Using a Peristaltic Crawling Mechanism

Mizushina

Omori

Kitamoto

et al. 2015

SICE Journal of Control, Measurement, and System Integration

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“…This paper focuses on a drilling mechanism as one of the key technologies for developing the robot. The authors have proposed a new screw drilling [1]. The mechanism has non-reaction screw and the effectiveness was confirmed.…”

Section: Introductionmentioning

confidence: 93%

Analytic study on screw drilling mechanism

Nagaoka

Kubota

2009

2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Subsurface exploration has been progressing rapidly. Exploring of the subsurface of Earth has received a lot of attention to investigate such environment as volcano, ocean and space. Now advanced technologies are required in subsurface exploration and some countries have tried to meet these new challenges. A subsurface investigation of celestial bodies is regarded as a especially significant technology and it is expected to enhance our knowledge of environment. So, this paper aims to develop a subsurface robotic explorer in order to bury an instrument, such as a long period seismometer, for investigating the internal information. So far, the authors have proposed a novel screw drilling mechanism for burrowing exploration robot. With consideration of previous researches, this paper newly proposes its basic dynamics model and describes the analysis. The model is based on the geometric model of a screw drill and soil mechanics, and by the model a soil frictional torque against the screw can be estimated. By analyzing the geometry of the screw, an optimal design can be introduced. This paper shows the feasibility of the theoretical model by comparing with experimental results.

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“…(a) is the Prototype of autonomous burrowing screw robot (Kenji et al 2008), (b) & (c) is the Earthworm type drilling robot. (Takashi et al, 2008) (a) (b) (c) Figure 1 -Existing borrowing exploration robots using screws However, the most developed method is the bit type used by TBM and other boring equipment. Therefore we use a simplified version of the bit type while copying mole cricket's technique of using its fore feet to tunnel as shown in Figure 2.…”

Section: Design Of Burrowing Mechanisms Excavation Mechanismmentioning

confidence: 99%