Analysis of drill head designs for dual-reciprocating drilling technique in planetary regoliths

Pitcher, Craig; Gao, Yang

doi:10.1016/j.asr.2015.07.008

Cited by 35 publications

(19 citation statements)

References 9 publications

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“…This structure also allows biologically inspired motion profiles to be investigated, where each segment is moved reciprocally rather than simultaneously [17]. Reciprocal motion has been shown to be advantageous due to the tensile support offered by segments being retracted to those being inserted-a phenomenon used, for example, in drills designed for interplanetary exploration [18]. Such motion also causes an anchoring effect due to the friction experienced at the needle-tissue interface, which leads to significant changes in the interaction between the needle and the surrounding tissue.…”

Section: Introductionmentioning

confidence: 99%

Minimally disruptive needle insertion: a biologically inspired solution

Leibinger¹,

Oldfield²,

Baena³

2016

Interface Focus.

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The mobility of soft tissue can cause inaccurate needle insertions. Particularly in steering applications that employ thin and flexible needles, large deviations can occur between pre-operative images of the patient, from which a procedure is planned, and the intra-operative scene, where a procedure is executed. Although many approaches for reducing tissue motion focus on external constraining or manipulation, little attention has been paid to the way the needle is inserted and actuated within soft tissue. Using our biologically inspired steerable needle, we present a method of reducing the disruptiveness of insertions by mimicking the burrowing mechanism of ovipositing wasps. Internal displacements and strains in three dimensions within a soft tissue phantom are measured at the needle interface, using a scanning laser-based image correlation technique. Compared to a conventional insertion method with an equally sized needle, overall displacements and strains in the needle vicinity are reduced by 30% and 41%, respectively. The results show that, for a given net speed, needle insertion can be made significantly less disruptive with respect to its surroundings by employing our biologically inspired solution. This will have significant impact on both the safety and targeting accuracy of percutaneous interventions along both straight and curved trajectories.

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Section: Introductionmentioning

confidence: 99%

Minimally disruptive needle insertion: a biologically inspired solution

Leibinger¹,

Oldfield²,

Baena³

2016

Interface Focus.

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“…[2]. And in recent researches, some of the researchers also start to develop relative new sampling mode similar to drilling in order to increase sampling efficiency; for instance, the dual-reciprocating drill system developed by the University of Surrey can control the lateral movements and increase drilling depth [3,4]. Compared with deep sampling, because there is hardly any space limitations, the sampling movement and equipment structure of surface sampling are more complex.…”

Section: Introductionmentioning

confidence: 99%

“…Decomposition of the three-dimensional velocity vector 4. International Journal of Aerospace Engineering line of…”

mentioning

confidence: 99%

Modular Motion-Structure Design Model for Planetary Surface Sampling

Xie

Li³

2019

International Journal of Aerospace Engineering

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Because there are less restrictions in space, a variety of different movement patterns and equipment structures may be used during the process of planetary surface sampling. Traditionally, the optimal analysis for surface sampling is focused on specific equipment structures and movements; in contrast, a new modular motion-structure design model for surface sampling, which is a more flexible model, is discussed in this paper. By establishing and combining two basic module groups, namely, the motion group and the structure group, this new design model can define and analyse multiple movement patterns and structures. For the motion group, calculating the sampling trajectory is the main purpose, in which there are two basic modules: tridimensional uniform rectilinear movements and tridimensional uniform circular movements. The two basic motion modules can be freely combined in a given coordinate system to simulate a random sampling trajectory. The structure group contains a series of curved and flat plates, which can be defined by a set of unified parameters (including section, extension, and cutting parameters). By assigning different values to these parameters, the curved or flat plates can represent different external shapes. The different structures of the various pieces of surface sampling equipment can be simulated by combining these different plates. In addition to defining these basic modules, analysing the coupling among different modules, which can be simplified to the relationship between velocity and surface, plays an important role in establishing this design model. Based on the modular design theory, this new model will not only reduce the difficulty of analysis but also improve accuracy for planetary surface sampling.

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“…where 11 and V 11 represent the rotary speed and penetrating velocity of EA, respectively. 12 represents the rotary speed of DA.…”

Section: Excavating Modementioning

confidence: 99%

“…Serval penetrators such as MUPUS [8] (Rosetta mission), Insight [9] (InSight mission), and KRET [10] (future lunar robotic mission) were proposed, and they can penetrate into the planetary subsurface by using of the impact driven by penetrator's internal hammer mechanism. Besides that, a bioinspired penetrator based on the working mechanism of wood wasp ovipositors was proposed for avoiding the needed external force in the space missions [11]. Although these penetrators have advantages of light weight and small dimensions, it is difficult for them to penetrate hard regolith or rocks and thus they are just suitable for subsurface exploration of the shallow depth in relatively loose regolith.…”

Section: Introductionmentioning

confidence: 99%

Drilling Load Model of an Inchworm Boring Robot for Lunar Subsurface Exploration

Zhang

Tang

Chen

et al. 2017

International Journal of Aerospace Engineering

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In the past decade, the wireline robot has received increasing attention due to the advantages of light weight, low cost, and flexibility compared to the traditional drilling instruments in space missions. For the lunar subsurface in situ exploration mission, we proposed a type of wireline robot named IBR (Inchworm Boring Robot) drawing inspiration from the inchworm. Two auger tools are utilized to remove chips for IBR, which directly interacted with the lunar regolith in the drilling process. Therefore, for obtaining the tools drilling characteristics, the chips removal principle of IBR is analyzed and its drilling load model is further established based on the soil mechanical theory in this paper. And then the proposed theoretical drilling load model is experimentally validated. In addition, according to the theoretical drilling load model, this paper discusses the effect of the drilling parameters on the tools drilling moments and power consumption. These results imply a possible energy-efficient control strategy for IBR.

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Analysis of drill head designs for dual-reciprocating drilling technique in planetary regoliths

Cited by 35 publications

References 9 publications

Minimally disruptive needle insertion: a biologically inspired solution

Minimally disruptive needle insertion: a biologically inspired solution

Modular Motion-Structure Design Model for Planetary Surface Sampling

Drilling Load Model of an Inchworm Boring Robot for Lunar Subsurface Exploration

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