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Becker, Felix und Börner, Simon und Lichtenheldt, Roy und Zimmermann, Klaus (2016) Enabling Autonomous Locomotion into Sand - A Mobile and Modular Drilling Robot. International Symposium on Robotics, 2016-06-21 - 2016-06-22, München.
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Kurzfassung
Established robots for locomotion into sandy soil are dominated by hammering systems. In this paper, we study an alternative design using a screw-driven mechanism. A testbed to find an efficient design is developed. Dependencies between velocity, drilling torque and depth are measured for different screw prototypes. The results show that the design of the screw is critical for the creation of fast and efficient mobile robots. Based on the experimental results, a prototype of an autonomous drilling robot is designed. With a torque of 0.66 Nm it is able to reach a depth of 20 cm within 2 min.
| elib-URL des Eintrags: | https://elib.dlr.de/104943/ | ||||||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
| Titel: | Enabling Autonomous Locomotion into Sand - A Mobile and Modular Drilling Robot | ||||||||||||||||||||
| Autoren: |
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| Datum: | Juni 2016 | ||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||
| Open Access: | Nein | ||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||
| In SCOPUS: | Nein | ||||||||||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||
| Stichwörter: | Soil Penetration, Drilling, locomotion, planetary exploration | ||||||||||||||||||||
| Veranstaltungstitel: | International Symposium on Robotics | ||||||||||||||||||||
| Veranstaltungsort: | München | ||||||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
| Veranstaltungsbeginn: | 21 Juni 2016 | ||||||||||||||||||||
| Veranstaltungsende: | 22 Juni 2016 | ||||||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||||||
| HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
| DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Robotische Exploration (alt) | ||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||
| Institute & Einrichtungen: | Institut für Systemdynamik und Regelungstechnik > Raumfahrt-Systemdynamik | ||||||||||||||||||||
| Hinterlegt von: | Lichtenheldt, Roy | ||||||||||||||||||||
| Hinterlegt am: | 12 Jul 2016 13:25 | ||||||||||||||||||||
| Letzte Änderung: | 24 Apr 2024 20:10 |
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