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Measuring Tape-Like Sampling Arm and Drill for Sampling Lunar Regolith : Misurazione con braccio tape-like e perforazione per raccolta campioni di regolite lunare, in: International Journal of Advanced Robotic Systems |
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| Auteur |
Lu, Wei; Ling, Yun; Song, Aiguo; Zeng, Heng; Ding, Weimin; Xu, Baoguo; Gu, Shipeng |
| Publié |
InTech Open Access Publisher, 2013
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| Abstract |
For the task of shallow lunar regolith
sampling, we have designed a novel Measuring Tapelike
Sampling Arm and Drill (MTS) which is a kind of
flexible robot. The advantages of the sampling arm are
that it has a small shrink volume, long working
distance, light weight, low power consumption and
good adaptivity, which is driven by one motor only.
Furthermore, it has a large reverse torque with a short
force arm, so the pushing force is large enough for the
end‐effector to penetrate into the lunar regolith. The
sampling head which includes two opposite rotating
parts has no‐reaction screw force. The vibrator located
in the sampling head can vibrate at frequencies
ranging from 1 to 42Hz and can result in resonance of
the sampling head. Therefore, it can improve the
efficiency of thrusting, sampling and casting throw.
We have carried out theoretical analysis, simulations
and experimental studies and it is has been proved
that the sampler can sample quantitatively at a of
depth of 10 cm in simulated lunar regolith (model
CAS‐1), cement and sand. |
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International Journal of Advanced Robotic Systems
Auteur: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publié: 2004
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