A discharging mechanism for a lunar subsurface explorer with the peristaltic crawling mechanism

Mizushina, Asuka; Omori, Hayato; Kitamoto, Hiroyuki; Nakamura, Taro; Osumi, Hisashi; Kubota, Takashi

doi:10.1109/rast.2013.6581352

Cited by 9 publications

(3 citation statements)

References 2 publications

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“…Here, the matrix of the numerical damping factors, C, is introduced to avoid the occurrences of infinite values of displacements induced by constant speed at the equilibrium state [47]. Equations (10) and (11) are the governing equations of a self-burrowed steering robot drilling into a general granular medium.…”

Section: Dynamic Equationsmentioning

confidence: 99%

“…To solve this set of ODEs, the integration process is conducted by the Runge-Kutta method [33,35,36]. The iteration is implemented by solving Equations ( 10) and (11). In between each step, the current coordinate and velocity components in Equations ( 1)-( 5) are updated; these procedures are then repeated for the next time increment, until the final time is reached.…”

Section: Numerical Scheme and Nondimensionalized Treatmentmentioning

confidence: 99%

“…This type of autonomous burrowing device is able to dive or steer itself to reach the desired target at suitable depths with tethered or autonomous communication. It might be a low-cost and high-efficient solution for a future space mission on the Moon or Mars [11]. Previous research has focused on the bio-inspired locomotion of animals or insects and developed robots that crawl, swim, and burrow [12,13] in fluid-like granular medium by mimicking the mechanisms of inchworms, earthworms, wood wasps, or gophers.…”

Section: Introductionmentioning

confidence: 99%

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Predictive Model of a Mole-Type Burrowing Robot for Lunar Subsurface Exploration

Yuan

Zhao

et al. 2023

Aerospace

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In this work, a dynamic model is proposed to simulate the drilling and steering process of an autonomous burrowing mole to access scientific samples from the deep subsurface of the Moon. The locomotive module is idealized as a rigid rod. The characteristic parameters are considered, including the length, cross-section diameter, and centroid of a cylindrical rod. Based on classical Lagrangian mechanics, a 3-DOF dynamic model for the locomotion of this autonomous device is developed. By introducing resistive force theory, the interaction scheme between the locomotive body and the lunar regolith is described. The effects of characteristic parameters on resistive forces and torques are studied and discussed. Proportional-derivative control strategies are introduced to calculate the tracking control forces following a planned trajectory. The simulation results show that this method provides a reliable manipulation of a mole-type robot to avoid obstacles during the tracking control process in layered sediments. Overall, the proposed reduced-order model is able to simulate the operating and controlling scenarios of an autonomous burrowing robot in lunar subsurface environments. This model provides intuitive inputs to plan the space missions of a drilling robot to extract subsurface samples on an extraterrestrial planet such as the Moon or Mars.

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Section: Dynamic Equationsmentioning

confidence: 99%