Autonomous Burrowing Robot for Lunar Subsurface Exploration
- Paper number
IAC-08.A3.2.INT9
- Author
Dr. Takashi Kubota, Japan Aerospace Exploration Agency (JAXA), Japan
- Year
2008
- Abstract
In the future lunar exploration missions, global information respect to the origin, the internal structure, and the chemical components is important from the viewpoint of solar exploration. For internal exploration, especially, seismic observation systems have been studied and developed based on the long-period seismometer. However, the temperature environment on the moon at night is severe and it is not enough to measure lunar microseism by the contact on the surface like Apollo projects. Therefore, any system burying the seismometer in the lunar soil is required in order to retain the temperature and improve the coupling with the soil. The authors propose a small burrowing robot for burying it in the lunar soil. In this paper, firstly the authors explain some requirements for the lunar robotic system and discuss the comparison with the other planetary excavation systems. Then the authors present the strategy for subsurface propulsion by the following two phases: (1) to make a space, and (2) to advance forward. Here the burrowing robot has the four required mechanisms: excavation, propulsion, transportation, and discharging. Next, the necessity is discussed for advancement in this soil to generate propulsive force to the cylindrical shape by applying the propulsion limit depth of its weight. Based on the analysis, the authors propose a new type screw drilling mechanism for a burrowing subsurface robot. A screw drill has some good properties which are dust prevention, diversion of rotary force to propulsive force, and removal and transportation of soil by a series spiral wing. For applying a small burrowing robot, there is the problem that the reaction occurs against the body by single spin drill. The reaction force can be body’s lateral friction resistance as reducing that efficiency as well as leading to a wobbling of propulsion axis. So the authors developed a double rotation screw system with non-reaction drilling mechanism. Specifically the authors propose three drilling types which have different rotation axes distribution as followings: (a) contra-rotor type, (b) twin-rotor type, and (c) dual-spin type. These proposal systems have different merits and demerits each other. Through some experiments and theory analysis, the authors evaluate the performances and optimization of the shape by applying specified index. In addition, the authors discuss the combinations of other parts, especially of transportation. Also the authors briefly consider a diversion of propulsion force and finally summarize feasibility of these drilling systems for the robotic system.
- Abstract document
- Manuscript document
IAC-08.A3.2.INT9.pdf (🔒 authorized access only).
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