@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",
year = "2025",
doi = "10.1007/978-981-96-0771-6\_18",
language = "英语",
isbn = "9789819607709",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "241--253",
editor = "Xuguang Lan and Xuesong Mei and Caigui Jiang and Fei Zhao and Zhiqiang Tian",
booktitle = "Intelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Proceedings",
address = "德国",
}