Design and Dynamic Analysis of the Wire-Line Coring Robot for Deep Lunar Rocks

Abstract

Deep lunar rocks carry geological information about the primitive Moon and are of great scientific value. In this paper, a coring robot for deep lunar rocks was proposed for the lunar environment based on the wire-line sampling device. This robot consists of the coring executor on the ground to assist in coring tube replacement and sample storage and the wireline self-excavating coring (WSC) robot for active drilling underground, which can provide autonomous deep coring on the moon. Subsequently, based on Prandtl’s failure mechanism and the prediction equations of the mechanical properties of the lunar soil, the mathematical relationship between the ultimate support force and the depth of the support point of the WSC robot was constructed. Additionally, the drilling scheme of the WSC robot at different depths was also determined. The constraint model of the impact module was established, and the structural parameters were optimized through non-linear programming to achieve the maximum impact energy. Simulations of the impact process were then carried out in explicit dynamics. The simulation results show that the optimized impact module can effectively drill through the lunar rocks. This result validates, to some extent, the drilling capability of the WSC robot in lunar rocks. The research work can provide technical reference and theoretical support for deep coring lunar rocks.

A Survey on Extraterrestrial Habitation Structures with a Focus on Energy-Saving 3D Printing Techniques

“…Hence, further exploration operations, such as exploratory boreholes and sample collection from the lunar/Martian surface, are suggested to realize a fully ISRU outpost construction. To study the deeper layers of regolith, the implementation of drilling operations by rovers are inevitable [122,123]. The surface layer of the Moon and Mars can also be further studied using indirect techniques, such as geophysical methods and distant remote sensing [124,125].…”

Design of Man-Machine Synergic Lunar Coring Device and Its Coring Dynamic Analysis

“…Headed by the United States and the former Soviet Union, countries worldwide have launched more than 100 lunar probes to the moon [6,7]. The United States, the former Soviet Union, and China have realized the sampling work on the lunar surface and obtained information on the lunar regolith structure and mineral elements, laying a solid foundation for the subsequent mining project of lunar resources [8]. There are still many unknown areas on the moon worthy of human exploration, and future lunar exploration will involve deeper drilling, as well as the realization of manned lunar landings and the establishment of lunar research bases [9,10].…”