Design and Analysis of a Self-Propelled and Steerable Planetary Subsurface Drilling Robot

Regolith sampling and analysis are essential for investigating planetary geology and searching for traces of life and water. However, extreme surface conditions and long-term weathering hinder the preservation of early biosignatures. To address these challenges and access deeper subsurface layers, this paper proposes a novel self-propelled, steerable regolith drilling robot with an innovative mechanical design. A modular approach is adopted, comprising four functional units, including excavation, borehole stabilization, propulsion and steering, and chip removal. The mechanical performance of the robot is systematically analyzed, and its motion process is verified through discrete element simulations. This study provides technical support for future in-situ resource utilization on planetary bodies.