1A2-K03 月・惑星の地中探査ロボットの開発 : 推進・堀削機構を備えた蠕動運動型地中探査ロボットの試作と堀削実験(宇宙ロボティクス・メカトロニクス)

概要

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Several small subsurface explorers have been developed in order to reveal the origin of a planet and scientific investigation. These explorers couldn't excavate deep due to the effect of the earth's pressure for the wall holding downward movement. Hence we have developed a novel planetary subsurface explorer robot with propulsion and excavation units based on an actual earthworm. This paper first describes the movement of peristaltic crawling and the concept of our subsurface explorer robot. Next we develop a prototype of excavator with a propulsion unit based on peristaltic crawling and with an excavation mechanism based on an earth auger. Excavation experiments are successfully conducted using the excavator and at lighter weights. It is confirmed that the excavator can begin boring from a launcher, and in case of excavator of 1/6 of its own weight.
一般社団法人日本機械学会の論文
2011-05-26