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In future deep planetary exploration missions, self-penetrating drilling robots (SPDRs) are expected to play a crucial role. Given the extreme environments and energy constraints of extraterrestrial planets, rotary percussion drilling emerges as the preferred drilling method for the robots. To address the drilling requirements of the SPDR on extraterrestrial planets, a design method for a highly integrated, small-sized and variable percussion frequency percussion mechanism suitable for extraterrestrial environment is proposed. On this, the dynamics model of the percussion mechanism was established and the response curves of percussion frequency and percussion work under various excitation frequencies were obtained. Subsequently, the drilling experimental system was designed and constructed. The effectiveness of the percussion mechanism was validated through comparative experiments. Results demonstrate that the percussion mechanism can enhance drilling efficiency from 16.4% to 38.3% without increasing the volume of the robot.

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Design and Experiment of a Percussion Mechanism for a Self-Penetrating Drilling Robot

  • 会议论文

  • 发表日期：

    2025年

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  • Zhiwei Long,
  • Riyue Wu,
  • Mingcong Wang,
  • Guangfei Zhang,
  • Haifei Zhu,
  • Yisheng Guan,
  • Tao Zhang

摘要

In future deep planetary exploration missions, self-penetrating drilling robots (SPDRs) are expected to play a crucial role. Given the extreme environments and energy constraints of extraterrestrial planets, rotary percussion drilling emerges as the preferred drilling method for the robots. To address the drilling requirements of the SPDR on extraterrestrial planets, a design method for a highly integrated, small-sized and variable percussion frequency percussion mechanism suitable for extraterrestrial environment is proposed. On this, the dynamics model of the percussion mechanism was established and the response curves of percussion frequency and percussion work under various excitation frequencies were obtained. Subsequently, the drilling experimental system was designed and constructed. The effectiveness of the percussion mechanism was validated through comparative experiments. Results demonstrate that the percussion mechanism can enhance drilling efficiency from 16.4% to 38.3% without increasing the volume of the robot.