二重反転スクリュ掘進機構の実験的研究 : 月内部探査ロボットのための高効率スクリュ機構に関する検討(機械力学,計測,自動制御)

概要

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The acquisition of scientific information with respect to the interior of the Moon is a considerably significant goal for the next lunar exploration missions. The purpose of this research is to develop a robotic subsurface explorer that can burrow into the lunar soils by itself in order to sample and analyze the subsoil or to bury scientific instruments. Firstly, this paper qualitatively describes the conceptual definitions of subsurface locomotive robots. In addition, as one of the essential components for the development of such a robotic explorer, an effective screw drilling mechanism, which can cancel the reaction forces to the main body and loosen fore-soils, is proposed. With respect to the proposed mechanism, the remarks of the validation analysis with some mechanical discussions and fundamental experiments are presented.
一般社団法人日本機械学会の論文
2009-08-25