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

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

Fujikawa, Chikage / Tokoi, Ryosuke / Toyama, Wataru / Okui, Manabu / Tomoaki, Tsuji / Nakamura, Taro / Kubota, Takashi

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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Dokumentinformationen

Titel :

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

Weitere Titelangaben:

Lect. Notes in Networks, Syst.

Beteiligte:

Cascalho, José M. (Herausgeber:in) / Tokhi, Mohammad Osman (Herausgeber:in) / Silva, Manuel F. (Herausgeber:in) / Mendes, Armando (Herausgeber:in) / Goher, Khaled (Herausgeber:in) / Funk, Matthias (Herausgeber:in) / Fujikawa, Chikage (Autor:in) / Tokoi, Ryosuke (Autor:in) / Toyama, Wataru (Autor:in) / Okui, Manabu (Autor:in)

Kongress:

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

Erschienen in:

Robotics in Natural Settings ; Kapitel : 6 ; 33-41

Lecture Notes in Networks and Systems ; 530

Erscheinungsdatum :

2022-08-25

Format / Umfang :

9 pages

ISBN :

978-3-031-15226-9 , 978-3-031-15225-2

ISSN :