In this study, the authors model and conduct experiment on the braid propulsion unit of an excavation robot for lunar exploration. In existing studies, it is difficult for robots to create sufficiently big holes and achieve deep excavations. Therefore, in this study, we developed a lunar earthworm-type excavation robot “LEAVO,” which attempts to excavate boreholes for environmental sensors and collect samples in particular layers. LEAVO has already succeeded in a vertical excavation of more than 938 mm and we have verified its usefulness in the first target mission. However, the existing propulsion unit of LEAVO cannot sufficiently bend and grip curved or uneven walls. In this research, we proposed a novel propulsion unit using braid to achieve curving excavation for the second target mission, modeled the gripping force of the proposed mechanism, and measured the gripping force of the prototype using the mechanism. The experiment demonstrated the validity of the modeling and the usefulness of the proposed mechanism.


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    Title :

    Grasping Characteristics of Flexible Propulsion Unit Using Braid Mechanism for Lunar Exploration Robot


    Additional title:

    Lect. Notes in Networks, Syst.



    Conference:

    Climbing and Walking Robots Conference ; 2022 ; Ponta Delgada, Portugal September 12, 2022 - September 14, 2022



    Publication date :

    2022-08-25


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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    GRASPING MECHANISM UNIT

    TANAKA YASUHITO / TACHIKAWA HIROYUKI / DOI TATSUYA et al. | European Patent Office | 2018

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    Electrical propulsion capabilities for lunar exploration

    Brown, H. / Nicoll, Jr., H.E. | Engineering Index Backfile | 1963



    ELECTRICAL PROPULSION CAPABILITIES FOR LUNAR EXPLORATION

    BROWN, H. / NICOLL, H. E. | AIAA | 1963