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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Inchworm Drilling System for Planetary Subsurface Exploration
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Inchworm Drilling System for Planetary Subsurface Exploration

机译：行星地下勘探九蚕钻井系统

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摘要

The physical properties, sequence structure, and heat flow of planetary regolith are important information to enhance the scientific understanding of lunar evolution and the origin of life, as well as for future planetary activities and resource utilization. An inchworm drilling system for planetary subsurface exploration missions is proposed in this article. The inchworm drilling system consists of an inchworm drill and a chip removal device, and this article provides a detailed description of the system design. Reasonable drilling parameters in the regular drilling condition are recommended based on drilling load analysis, and a manipulation strategy is given for troubleshooting in the faulty drilling condition. Robotic drilling experiments were carried out on a lunar regolith simulant, and the drilling depth of the inchworm drill reached 850 mm in 106 min. In addition, parameter identification tests of the simulant mechanical parameters were carried out during drilling, and the shear strength parameters of the simulant cohesion and internal friction angle at five locations along the depth direction were measured. The experimental results show that the proposed inchworm drilling system can well achieve the mission target of drilling and exploration and is a feasible choice for future planetary exploration missions.
机译：行星概述的物理性质，序列结构和热流是增强对农历演变的科学了解和生命起源的重要信息，以及未来的行星活动和资源利用。本文提出了一种用于行星地下勘探任务的九虫钻探系统。九蚕钻井系统由九虫钻头和芯片去除装置组成，本文提供了系统设计的详细描述。建议基于钻孔负荷分析建议定期钻井条件中的合理钻探参数，并在故障钻井条件下进行操纵策略。机器人钻探实验在月球重新旋转模拟器上进行，九寸钻的钻孔深度在106分钟内达到850毫米。另外，测量在钻孔期间进行模拟机械参数的参数识别测试，并测量模拟粘合和内部摩擦角的剪切强度参数沿深度方向的五个位置。实验结果表明，建议的九虫钻井系统可以实现钻井和勘探的使命目标，是未来行星勘探任务的可行选择。

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