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Enabling Autonomous Locomotion into Sand - A Mobile and Modular Drilling Robot

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, 21.–22. Juni 2016, 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/
Document Type:Conference or Workshop Item (Speech)
Title:Enabling Autonomous Locomotion into Sand - A Mobile and Modular Drilling Robot
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Becker, FelixTechnische Universität IlmenauUNSPECIFIED
Börner, SimonTechnische Universität IlmenauUNSPECIFIED
Lichtenheldt, RoyRoy.Lichtenheldt (at) dlr.dehttps://orcid.org/0000-0002-2539-4910
Zimmermann, KlausTU Ilmenau, klaus.zimmermann (at) tu-ilmenau.deUNSPECIFIED
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 Dates:21.–22. Juni 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
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:17 Jul 2019 10:45

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