Mechanism Design of a Self-submersible Planetary Drilling and Sampling Robot
摘要
With the continuous development of planetary exploration, penetrating the planetary regolith into the deep subsurface has become increasingly important. A self-submersible planetary drilling and sampling robot (SPDSR) is proposed in this work, including design idea and mechanism configuration. The robot is comprised of an anchoring and feeding mechanism, a rotation and percussion mechanism, and a coring mechanism. The anchoring and feeding mechanism can counteract drilling resistance or resistance torque and enable the robot to move vertically. The rotation and percussion mechanism can realize the crushing of planetary regolith or rock. The coring mechanism can realize the function of fixed-point coring of regolith samples. Drilled cuttings can be retained inside an inner chamber and the robot can be lifted out of the borehole to remove the cuttings when the chamber is fully filled.