1A2-F15 蠕動運動機構を併用した月地中探査ロボットの掘削機構の検討

概要

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In recent year, two missions have been examined from the viewpoint of the lunar origin clarification. One is to clarify the whole image of moon 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 excavate into the ground, taking a sample of regolith by itself in a small size and with lightweight. 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 as a thrust mechanism. The developed robot which used peristaltic crawling could move in perforated dirt. In this paper, we suggested various shapes of earth augers as the excavating mechanism of regolith. Then we had some experiments.
一般社団法人日本機械学会の論文
2009-05-25