TY - GEN
T1 - Mechanism Design of a Multi-functional Drilling End-effector for Extraterrestrial Regolith Sampling
AU - Deng, Haonan
AU - Liu, Jiabin
AU - Wu, Riyue
AU - Ye, Minhui
AU - Dong, Jiawei
AU - Zhang, Tao
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Deep space exploration is extremely important to the sustainable development of mankind, and it has potential value in exploring the origin of life, predicting astronomical disasters, and utilizing interstellar resources. Regolith sampling is an important way for humans to explore and understand the evolutionary history and objective environment of extraterrestrial objects. In the extreme extraterrestrial environment, it is advantageous to complete the sampling mission with a robotic arm-mounted sampler instead of manual operation with high efficiency, accuracy, and safety. Based on the requirements of regolith sampling, the functional end-effector considerations are analyzed in this paper. A multi-functional drilling end-effector mounted on a robotic arm is proposed, including feeding, rotation, percussion, coring, and chuck mechanisms. The simulation of the sample break-off process is also established. This paper can provide some theoretical and technical references for the future design of extraterrestrial sampling tools.
AB - Deep space exploration is extremely important to the sustainable development of mankind, and it has potential value in exploring the origin of life, predicting astronomical disasters, and utilizing interstellar resources. Regolith sampling is an important way for humans to explore and understand the evolutionary history and objective environment of extraterrestrial objects. In the extreme extraterrestrial environment, it is advantageous to complete the sampling mission with a robotic arm-mounted sampler instead of manual operation with high efficiency, accuracy, and safety. Based on the requirements of regolith sampling, the functional end-effector considerations are analyzed in this paper. A multi-functional drilling end-effector mounted on a robotic arm is proposed, including feeding, rotation, percussion, coring, and chuck mechanisms. The simulation of the sample break-off process is also established. This paper can provide some theoretical and technical references for the future design of extraterrestrial sampling tools.
KW - Coring mechanism
KW - Effector design
KW - Motion simulation
KW - Regolith sampling
UR - https://www.scopus.com/pages/publications/85170825573
U2 - 10.1109/ICMA57826.2023.10216142
DO - 10.1109/ICMA57826.2023.10216142
M3 - 会议稿件
AN - SCOPUS:85170825573
T3 - 2023 IEEE International Conference on Mechatronics and Automation, ICMA 2023
SP - 1269
EP - 1274
BT - 2023 IEEE International Conference on Mechatronics and Automation, ICMA 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 20th IEEE International Conference on Mechatronics and Automation, ICMA 2023
Y2 - 6 August 2023 through 9 August 2023
ER -