Study on Mole Type Drilling Robot for Lunar Subsurface Exploration

近年来，无人深空探测受到了广泛关注。一些安全着陆和探索月球或其他行星表面的任务在世界上被提出和计划。在日本，月球着陆器探测器任务也在计划中，被称为“硒- b”。在这些任务中，需要进行抽样，对地质样品进行现场分析，并部署测量和观察设备。许多研究人员已经研究和开发了样品采集系统和钻盖系统。近年来，为了获得地下勘探的深层数据，需要使用深钻或穿透系统。在月球任务中，需要挖掘覆盖在月球表面的几米深的风化层。已经提出了在月球表面钻探的一些建议。然而，目前还没有满足这一要求的方案。本研究提出一种可在风化层中操作的类鼹鼠机器人。然后，提出了机器人在土壤中向前移动的方案。最后，通过粉末力学分析和实验对其运动机理进行了研究。实验结果表明了该机器人的可行性。

Unmanned deep space explorations have received a lot of attention in recent years. Some missions to land safely and explore on the surface of the moon or other planets are proposed and planned in the world. In Japan, lunar lander-rover mission is also planned, which is called SELENE-B. In these missions, it is required to perform sampling, conduct in-situ analysis of geological samples and deploy devices for measurement and observation. Many researchers have studied and developed sample acquisition systems and driller or corer systems. Recently deep drillers or penetrating systems have been required to obtain deep data for subsurface exploration. In lunar mission, it is needed to excavate the regolith layer, which covers the lunar surface, in depth of several meters. Some suggestions for drilling on the lunar surface have already been made. However, there are no schemes that satisfy the requirement. This study proposes a mole-like robot which is maneuverable in regolith. Then, a scheme is also proposed, for the robot to move forward in the soil. Finally, the moving mechanism is studied by powder mechanical analyses and some experiments. The experimental results show the feasibility of the proposed robot.