Abstract
With the continuous development of planetary exploration, penetrating the planetary regolith into the deep subsurface has become increasingly important. A self-submersible planetary drilling and sampling robot (SPDSR) is proposed in this work, including design idea and mechanism configuration. The robot is comprised of an anchoring and feeding mechanism, a rotation and percussion mechanism, and a coring mechanism. The anchoring and feeding mechanism can counteract drilling resistance or resistance torque and enable the robot to move vertically. The rotation and percussion mechanism can realize the crushing of planetary regolith or rock. The coring mechanism can realize the function of fixed-point coring of regolith samples. Drilled cuttings can be retained inside an inner chamber and the robot can be lifted out of the borehole to remove the cuttings when the chamber is fully filled.
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Acknowledgements
This work is financially supported by the National Natural Science Foundation of China (Grant No. 52275011), the State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment, the Natural Science Foundation of Guangdong Province (Grant No. 2023B1515020080 and 2023A1515011253), the Opening Project of the Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University (Grant No. KF20211006), the Natural Science Foundation of Chongqing (Grant No. CSTB2022NSCQMSX1386), the Young Elite Scientists Sponsorship Program by the China Association for Science and Technology (2021 QNRC001), and the Young Talent Support Project of the Guangzhou Association for Science and Technology (Grant No. QT20220101124).
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Wu, R. et al. (2024). Mechanism Design of a Self-submersible Planetary Drilling and Sampling Robot. In: Tan, J., Liu, Y., Huang, HZ., Yu, J., Wang, Z. (eds) Advances in Mechanical Design. ICMD 2023. Mechanisms and Machine Science, vol 155. Springer, Singapore. https://doi.org/10.1007/978-981-97-0922-9_137
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DOI: https://doi.org/10.1007/978-981-97-0922-9_137
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