Helically-driven granular mobility and gravity-variant scaling relations

Thoesen, Andrew; McBryan, Teresa; Marvi, Hamidreza

doi:10.1039/c9ra00399a

Cited by 19 publications

(10 citation statements)

References 50 publications

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“…Predictably, Figure 8 shows that the velocity increases in a quasi-linear trend as the screw angular velocity increases. This pattern has been demonstrated in the literature (Thoesen et al, 2018(Thoesen et al, , 2019b and serves as a sanity check for the velocity results. It is readily apparent that the velocity is fairly constant with respect to load time, as well as ramp angle.…”

Section: Powersupporting

confidence: 71%

Regolith Excavation Performance of a Screw-propelled Vehicle

Green¹,

McBryan²,

Mick³

et al. 2021

Preprint

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Excavation of regolith is the enabling process for many of the in-situ resource utilization (ISRU) efforts that are being considered to aid in the human exploration of the moon and Mars. Most proposed planetary excavation systems are integrated with a wheeled vehicle, but none yet have used a screw-propelled vehicle which can significantly enhance the excavation performance. Therefore, CASPER, a novel screw-propelled excavation rover is developed and analyzed to determine its effectiveness as a planetary excavator. The excavation rate, power, velocity, cost of transport, and a new parameter, excavation transport rate, are analyzed for various configurations of the vehicle through mobility and excavation tests performed in silica sand. The optimal configuration yielded a 30 kg/hr excavation rate and 10.2 m/min traverse rate with an overall system mass of 3.4 kg and power draw of less than 30 W. These results indicate that this architecture shows promise as a planetary excavation because it provides significant excavation capability with low mass and power requirements. Corresponding author(s) Email: hmarvi@asu.edu

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Section: Powersupporting

confidence: 71%

Regolith Excavation Performance of a Screw-propelled Vehicle

Green¹,

McBryan²,

Mick³

et al. 2021

Preprint

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“…While most of these have not been selected for a launch or launched yet, they represent possible developments for the planetary robotics community in the future. The first of these research thrusts is the category of screwpropelled vehicles [37][38][39][40][41][42][43][44][45], which are ground or amphibious vehicles which use helical geometries and blades to generate thrust rather than wheel traction. These have been developed further for Earth-based applications but are currently in the experimental stage for space.…”

Section: Alternative Surface Mobilitymentioning

confidence: 99%

Planetary Surface Mobility and Exploration: A Review

Thoesen

Marvi

2021

Curr Robot Rep

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Purpose of Review With the continued interest in scientific space exploration and rapid development of the commercialized space sector, there have been a wide array of exploration technologies proposed for planetary mobility. This paper aims to survey these new technologies, explain the motivations and challenges of traversing different space environments, and describe why certain approaches will be more ubiquitous. Recent Findings A continued dominance by four-and six-wheeled vehicles for lunar and Martian exploration due to reliability, simplicity, and efficiency is observed. However, there is an emergence of alternative wheeled vehicle kinematics, other legged locomotion, and flying, climbing, or hopping robots when these designs confer specific advantages. Summary The engineering maxim "form follows function" is strongly represented within the array of robotic planetary explorer designs. The limitations of an irradiated, dusty, vacuous, remote operating environment which prioritizes efficiency and robust operation often lead to small iterations on working designs because deviations from the status quo are simply not feasible or deemed too risky. Those proposed designs which do deviate have clear justifications driven by their particular environments or intended purpose. Engineers developing future planetary exploring robots for space environments may find these considerations useful.

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“…Nowadays, through the co-simulation of DEM and MBD, it has become a common phenomenon to analyze the motion state of particles and the force state of objects in contact with particles. [32][33][34][35] In the co-simulation of DEM-MBD, the material parameters are very important for the accuracy of the simulation results.…”

Section: 5mentioning

confidence: 99%

Drilling study of bit in gravel environment based on DEM–MBD

Gao

Liu

et al. 2021

Engineering Reports

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In the process of rock bolt support for the roadway with floor heave, the rock bolt cannot reach the bottom of the borehole smoothly due to the influence of the collapse gravels around the borehole. In order to solve the problem of difficult rock bolt installation, the auxiliary installation device of rock bolt drilling was innovatively designed. At the same time, a new method of auxiliary bolt installation was put forward, in which a bit was installed at the bottom of the bolt to assist the bolt drilling. The drilling process of the bit was simulated by the co-simulation of discrete element method (DEM) and multibody dynamics method (MBD). The axial resistance of the bit and the change law of the particles movement were studied under different motion parameters and structural parameters. It was found that the drilling performance of bit was directly related to the motion parameters and structure of bit. And the selection of gravel parameters in DEM was verified by experiments. The research results can provide technical guidance for bit structure design and the selection of motion parameters of bolt drilling auxiliary installation device, and can effectively improve the rock bolt installation efficiency.

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Helically-driven granular mobility and gravity-variant scaling relations

Abstract: This study discusses the role and function of helical design as it relates to slippage during translation of a vehicle in glass bead media.

Cited by 19 publications

References 50 publications

Regolith Excavation Performance of a Screw-propelled Vehicle

Regolith Excavation Performance of a Screw-propelled Vehicle

Planetary Surface Mobility and Exploration: A Review

Drilling study of bit in gravel environment based on DEM–MBD

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