2P2-A21 月面での地震計設置のための蠕動運動型掘削ロボットの開発 : レゴリス中での推進機構の検討(宇宙ロボティクス・メカトロニクス)

概要

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Recently, lunar exploration has been carried out by many countries. Two other ways are planned to investigate the moon. One is to clarify the whole image of noon by placing seismometers, The other is to have information by taking samples of regolith into the ground with excavating. The exploration robot is required that it can carry out missions e.g. excavating into the ground, taking a sample regolith by itself. We focused on peristaltic crawling of an earthworm whose locomotion mechanism can move while keeping a large area in contact with the ground. It is expected to be suitable for a lunar exploration robot. In this paper, we developed a peristaltic crawling robot that constitutes of parallel rink manipulator. Then we experimented basic movement of the robot.
2008-06-06