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Becker, Felix and Börner, Simon and Lichtenheldt, Roy and 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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Abstract
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.
| Item URL in elib: | https://elib.dlr.de/104943/ | ||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||
| Title: | Enabling Autonomous Locomotion into Sand - A Mobile and Modular Drilling Robot | ||||||||||||||||||||
| Authors: |
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| Date: | June 2016 | ||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||
| Open Access: | No | ||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||
| Keywords: | Soil Penetration, Drilling, locomotion, planetary exploration | ||||||||||||||||||||
| Event Title: | International Symposium on Robotics | ||||||||||||||||||||
| Event Location: | München | ||||||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||||||
| Event Start Date: | 21 June 2016 | ||||||||||||||||||||
| Event End Date: | 22 June 2016 | ||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||
| DLR - Research theme (Project): | R - Robotische Exploration (old) | ||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||
| Institutes and Institutions: | Institute of System Dynamics and Control > Space System Dynamics | ||||||||||||||||||||
| Deposited By: | Lichtenheldt, Roy | ||||||||||||||||||||
| Deposited On: | 12 Jul 2016 13:25 | ||||||||||||||||||||
| Last Modified: | 24 Apr 2024 20:10 |
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