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Screw-driven locomotion into regolith simulants

Spytek, Jakub (2016) Screw-driven locomotion into regolith simulants. Master's, AGH University of Science and Technology Krakow.

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The aim of the Thesis is the creation of the analytical model describing the dynamics of the screw-driven mechanism used for locomotion into regolith. The model is intended for the existing prototype of the device which was created primarily for the application in the planetary exploration field. It is based on the available methods of the modeling of devices for subsurface exploration in agreement with the appropriate laws of soil mechanics. In the beginning the idea of the planetary exploration is introduced with the emphasis on the significance of the subsurface locomotion devices. After that, the different solutions from the literature are described together with mathematical tools used for their modeling. Next, the dynamical model is formulated together with the precise mathematical description of all of its components. In the section that follows the results of model validation are presented using the measurement data obtained with the usage of an existing testbed. In the end an example of model’s application in the optimization algorithm is presented, in order to obtain a screw with the most optimal performance.

Item URL in elib:https://elib.dlr.de/110633/
Document Type:Thesis (Master's)
Additional Information:Betreuer der Arbeit: Dr. Roy Lichtenheldt , Dr. Alberto Gallina
Title:Screw-driven locomotion into regolith simulants
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Spytek, Jakubdlr-srUNSPECIFIED
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:113
Keywords:Drilling, regolith, soil mechanics, sand screw, sand, planetary Exploration,
Institution:AGH University of Science and Technology Krakow
Department:Inżynieria Mechatroniczna
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
Institute of System Dynamics and Control > Space System Dynamics
Deposited By: Lichtenheldt, Roy
Deposited On:25 Jan 2017 14:55
Last Modified:12 Jul 2019 13:49

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