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Screw-driven Robot for Locomotion into Sand

Lichtenheldt, Roy and Becker, Felix and Zimmermann, Klaus (2017) Screw-driven Robot for Locomotion into Sand. In: Ilmenau Scientific Colloquium. Technische Universität Ilmenau 59 (Ilmenau) (www.db-thueringen.de), 59. ilmedia. 59th Ilmenau Scientific Colloquium, 11 – 15 September 2017, Ilmenau, Deutschland.

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Abstract

The locomotion into sand is needed in various applications, but due to the complex mechanics of granular matter it causes special difficulties. High resistance forces on penetration systems and parameter dependent behavior, like stable or instable boreholes, complicate the design of mobile robots for the locomotion in sandy soil. The most effective state of the art devices deploy hammering mechanisms. Screw-driven systems arise more and more in the literature, as they promise to be a simple, robust and low-cost solution. In this paper, an autonomous drilling robot for the locomotion into sandy soils is presented. The design is based on theoretical modeling and experimental analyses of the screw drive aiming to minimize the needed torque and to maximize the locomotion speed. The presented prototype is able to reach a depth of 20 centimeters within a minute with a torque of 0.66 Nm.

Item URL in elib:https://elib.dlr.de/114033/
Document Type:Conference or Workshop Item (Speech)
Title:Screw-driven Robot for Locomotion into Sand
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lichtenheldt, Royroy.lichtenheldt (at) dlr.dehttps://orcid.org/0000-0002-2539-4910
Becker, Felixtechnische universität ilmenauUNSPECIFIED
Zimmermann, Klaustu ilmenau, klaus.zimmermann (at) tu-ilmenau.deUNSPECIFIED
Date:September 2017
Journal or Publication Title:Ilmenau Scientific Colloquium. Technische Universität Ilmenau 59 (Ilmenau) (www.db-thueringen.de)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Volume:59
Publisher:ilmedia
Series Name:Ilmenau Scientific Colloquium
Status:Published
Keywords:Mobile robot, locomotion, sand, granular matter, screw drive
Event Title:59th Ilmenau Scientific Colloquium
Event Location:Ilmenau, Deutschland
Event Type:international Conference
Event Dates:11 – 15 September 2017
Organizer:Technische Universität Ilmenau
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Science and Exploration
DLR - Research area:Raumfahrt
DLR - Program:R EW - Erforschung des Weltraums
DLR - Research theme (Project):Project InSight HP3
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Deposited By: Lichtenheldt, Roy
Deposited On:25 Sep 2017 16:57
Last Modified:15 Jul 2019 10:11

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