Enabling Autonomous Locomotion into Sand – A Mobile and Modular Drilling Robot

Konferenz: ISR 2016 - 47st International Symposium on Robotics
21.06.2016 - 22.06.2016 in München, Germany

Tagungsband: ISR 2016

Seiten: 6Sprache: EnglischTyp: PDF

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Becker, Felix; Boerner, Simon; Zimmermann, Klaus (Technische Universität Ilmenau, Technical Mechanics Group, PF 100565, 98684, Ilmenau, Germany)
Lichtenheldt, Roy (German Aerospace Center (DLR), Robotics and Mechatronics Center – Institute of System Dynamics and Control, Münchener Str. 20, 82234 Weßling, Germany)

Established robots for locomotion into sandy soil are dominated by hammering systems. In this paper, we study an alternative design using a screw-driven mechanism. A testbed to find an efficient design is developed. Dependencies between velocity, drilling torque and depth are measured for different screw prototypes. The results show that the design of the screw is critical for the creation of fast and efficient mobile robots. Based on the experimental results, a prototype of an autonomous drilling robot is designed. With a torque of 0.66 Nm it is able to reach a depth of 20 cm within 2 min.