Design and Experiment of a Percussion Mechanism for a Self-Penetrating Drilling Robot

Zhiwei Long; Riyue Wu; Mingcong Wang; Guangfei Zhang; Haifei Zhu; Yisheng Guan; Tao Zhang

doi:10.1007/978-981-96-0771-6_18

Design and Experiment of a Percussion Mechanism for a Self-Penetrating Drilling Robot

Zhiwei Long
, Riyue Wu
, Mingcong Wang
, Guangfei Zhang
, Haifei Zhu
, Yisheng Guan
, Tao Zhang^*

^*Corresponding author for this work

Guangdong University of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In future deep planetary exploration missions, self-penetrating drilling robots (SPDRs) are expected to play a crucial role. Given the extreme environments and energy constraints of extraterrestrial planets, rotary percussion drilling emerges as the preferred drilling method for the robots. To address the drilling requirements of the SPDR on extraterrestrial planets, a design method for a highly integrated, small-sized and variable percussion frequency percussion mechanism suitable for extraterrestrial environment is proposed. On this, the dynamics model of the percussion mechanism was established and the response curves of percussion frequency and percussion work under various excitation frequencies were obtained. Subsequently, the drilling experimental system was designed and constructed. The effectiveness of the percussion mechanism was validated through comparative experiments. Results demonstrate that the percussion mechanism can enhance drilling efficiency from 16.4% to 38.3% without increasing the volume of the robot.

Original language	English
Title of host publication	Intelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Proceedings
Editors	Xuguang Lan, Xuesong Mei, Caigui Jiang, Fei Zhao, Zhiqiang Tian
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	241-253
Number of pages	13
ISBN (Print)	9789819607709
DOIs	https://doi.org/10.1007/978-981-96-0771-6_18
State	Published - 2025
Externally published	Yes
Event	17th International Conference on Intelligent Robotics and Applications, ICIRA 2024 - Xi'an, China Duration: 31 Jul 2024 → 2 Aug 2024

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	15201 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	17th International Conference on Intelligent Robotics and Applications, ICIRA 2024
Country/Territory	China
City	Xi'an
Period	31/07/24 → 2/08/24

Keywords

Dynamical model
Percussion mechanism
Prototype testing

Access to Document

10.1007/978-981-96-0771-6_18

Cite this

Long, Z., Wu, R., Wang, M., Zhang, G., Zhu, H., Guan, Y., & Zhang, T. (2025). Design and Experiment of a Percussion Mechanism for a Self-Penetrating Drilling Robot. In X. Lan, X. Mei, C. Jiang, F. Zhao, & Z. Tian (Eds.), Intelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Proceedings (pp. 241-253). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 15201 LNAI). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-96-0771-6_18

Long, Zhiwei ; Wu, Riyue ; Wang, Mingcong et al. / Design and Experiment of a Percussion Mechanism for a Self-Penetrating Drilling Robot. Intelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Proceedings. editor / Xuguang Lan ; Xuesong Mei ; Caigui Jiang ; Fei Zhao ; Zhiqiang Tian. Springer Science and Business Media Deutschland GmbH, 2025. pp. 241-253 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

@inproceedings{33ca2f8663ab49dbae38256335962645,

title = "Design and Experiment of a Percussion Mechanism for a Self-Penetrating Drilling Robot",

abstract = "In future deep planetary exploration missions, self-penetrating drilling robots (SPDRs) are expected to play a crucial role. Given the extreme environments and energy constraints of extraterrestrial planets, rotary percussion drilling emerges as the preferred drilling method for the robots. To address the drilling requirements of the SPDR on extraterrestrial planets, a design method for a highly integrated, small-sized and variable percussion frequency percussion mechanism suitable for extraterrestrial environment is proposed. On this, the dynamics model of the percussion mechanism was established and the response curves of percussion frequency and percussion work under various excitation frequencies were obtained. Subsequently, the drilling experimental system was designed and constructed. The effectiveness of the percussion mechanism was validated through comparative experiments. Results demonstrate that the percussion mechanism can enhance drilling efficiency from 16.4\% to 38.3\% without increasing the volume of the robot.",

keywords = "Dynamical model, Percussion mechanism, Prototype testing",

author = "Zhiwei Long and Riyue Wu and Mingcong Wang and Guangfei Zhang and Haifei Zhu and Yisheng Guan and Tao Zhang",

note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.; 17th International Conference on Intelligent Robotics and Applications, ICIRA 2024 ; Conference date: 31-07-2024 Through 02-08-2024",

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doi = "10.1007/978-981-96-0771-6\_18",

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pages = "241--253",

editor = "Xuguang Lan and Xuesong Mei and Caigui Jiang and Fei Zhao and Zhiqiang Tian",

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Long, Z, Wu, R, Wang, M, Zhang, G, Zhu, H, Guan, Y & Zhang, T 2025, Design and Experiment of a Percussion Mechanism for a Self-Penetrating Drilling Robot. in X Lan, X Mei, C Jiang, F Zhao & Z Tian (eds), Intelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 15201 LNAI, Springer Science and Business Media Deutschland GmbH, pp. 241-253, 17th International Conference on Intelligent Robotics and Applications, ICIRA 2024, Xi'an, China, 31/07/24. https://doi.org/10.1007/978-981-96-0771-6_18

Design and Experiment of a Percussion Mechanism for a Self-Penetrating Drilling Robot. / Long, Zhiwei; Wu, Riyue; Wang, Mingcong et al.
Intelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Proceedings. ed. / Xuguang Lan; Xuesong Mei; Caigui Jiang; Fei Zhao; Zhiqiang Tian. Springer Science and Business Media Deutschland GmbH, 2025. p. 241-253 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 15201 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Design and Experiment of a Percussion Mechanism for a Self-Penetrating Drilling Robot

AU - Long, Zhiwei

AU - Wu, Riyue

AU - Wang, Mingcong

AU - Zhang, Guangfei

AU - Zhu, Haifei

AU - Guan, Yisheng

AU - Zhang, Tao

N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

PY - 2025

Y1 - 2025

N2 - In future deep planetary exploration missions, self-penetrating drilling robots (SPDRs) are expected to play a crucial role. Given the extreme environments and energy constraints of extraterrestrial planets, rotary percussion drilling emerges as the preferred drilling method for the robots. To address the drilling requirements of the SPDR on extraterrestrial planets, a design method for a highly integrated, small-sized and variable percussion frequency percussion mechanism suitable for extraterrestrial environment is proposed. On this, the dynamics model of the percussion mechanism was established and the response curves of percussion frequency and percussion work under various excitation frequencies were obtained. Subsequently, the drilling experimental system was designed and constructed. The effectiveness of the percussion mechanism was validated through comparative experiments. Results demonstrate that the percussion mechanism can enhance drilling efficiency from 16.4% to 38.3% without increasing the volume of the robot.

AB - In future deep planetary exploration missions, self-penetrating drilling robots (SPDRs) are expected to play a crucial role. Given the extreme environments and energy constraints of extraterrestrial planets, rotary percussion drilling emerges as the preferred drilling method for the robots. To address the drilling requirements of the SPDR on extraterrestrial planets, a design method for a highly integrated, small-sized and variable percussion frequency percussion mechanism suitable for extraterrestrial environment is proposed. On this, the dynamics model of the percussion mechanism was established and the response curves of percussion frequency and percussion work under various excitation frequencies were obtained. Subsequently, the drilling experimental system was designed and constructed. The effectiveness of the percussion mechanism was validated through comparative experiments. Results demonstrate that the percussion mechanism can enhance drilling efficiency from 16.4% to 38.3% without increasing the volume of the robot.

KW - Dynamical model

KW - Percussion mechanism

KW - Prototype testing

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SN - 9789819607709

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

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EP - 253

BT - Intelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Proceedings

A2 - Lan, Xuguang

A2 - Mei, Xuesong

A2 - Jiang, Caigui

A2 - Zhao, Fei

A2 - Tian, Zhiqiang

PB - Springer Science and Business Media Deutschland GmbH

T2 - 17th International Conference on Intelligent Robotics and Applications, ICIRA 2024

Y2 - 31 July 2024 through 2 August 2024

ER -

Long Z, Wu R, Wang M, Zhang G, Zhu H, Guan Y et al. Design and Experiment of a Percussion Mechanism for a Self-Penetrating Drilling Robot. In Lan X, Mei X, Jiang C, Zhao F, Tian Z, editors, Intelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Proceedings. Springer Science and Business Media Deutschland GmbH. 2025. p. 241-253. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-981-96-0771-6_18