NDLI: A discharging mechanism for a lunar subsurface explorer with the peristaltic crawling mechanism

Content Provider	IEEE Xplore Digital Library
Author	Mizushina, A. Omori, H. Kitamoto, H. Nakamura, T. Osumi, H. Kubota, T.
Copyright Year	2013
Description	Author affiliation: Japan Aerosp. Exploration Agency (JAXA), Sagamihara, Japan (Kubota, T.) \|\| Dept. of Precision Mech., Chuo Univ., Tokyo, Japan (Mizushina, A.; Omori, H.; Kitamoto, H.; Nakamura, T.; Osumi, H.)
Abstract	To elucidate planetary origins and develop suitable bases for human operations, the subsurface of the planets must be investigated. Previously, we have developed a planetary subsurface excavation robot with the peristaltic crawling mechanism. This robot consists of two units; a propulsion unit and an excavation unit. The propulsion unit operates by peristaltic motion of three subunits, while the excavation unit is fitted with an earth auger. However, because underground soil is not smoothly discharged from the spout when it is below surface, this robot cannot continuously perform subsurface excavation. To solve this problem, we have developed a discharging unit that automatically conveys the soil from the spout to the ground surface. In this paper, we explain the function of the proposed discharging unit. Next, we develop the unit and experimentally evaluate its ability to remove underground soil. The unit is then attached to an excavation robot moving under propulsion. We conclude that the discharging unit can operate efficiently below surface.
Sponsorship	IEEE Aerosp. Electron. Syst. Soc.
Starting Page	955
Ending Page	960
File Size	1396444
Page Count	6
File Format	PDF
ISBN	9781467363952
e-ISBN	9781467363969
DOI	10.1109/RAST.2013.6581352
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-06-12
Publisher Place	Turkey
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Earth Lunar surface excavation Moon Excavation robot Discharge mechanism Soil Propulsion Earthworm robot Robot sensing systems Discharges (electric)
Content Type	Text
Resource Type	Article

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