TY - GEN
T1 - Analytic study on screw drilling mechanism
AU - Nagaoka, Kenji
AU - Kubota, Takashi
PY - 2009/12/1
Y1 - 2009/12/1
N2 - Subsurface exploration has been progressing rapidly. Exploring of the subsurface of Earth has received a lot of attention to investigate such environment as volcano, ocean and space. Now advanced technologies are required in subsurface exploration and some countries have tried to meet these new challenges. A subsurface investigation of celestial bodies is regarded as a especially significant technology and it is expected to enhance our knowledge of environment. So, this paper aims to develop a subsurface robotic explorer in order to bury an instrument, such as a long period seismometer, for investigating the internal information. So far, the authors have proposed a novel screw drilling mechanism for burrowing exploration robot. With consideration of previous researches, this paper newly proposes its basic dynamics model and describes the analysis. The model is based on the geometric model of a screw drill and soil mechanics, and by the model a soil frictional torque against the screw can be estimated. By analyzing the geometry of the screw, an optimal design can be introduced. This paper shows the feasibility of the theoretical model by comparing with experimental results.
AB - Subsurface exploration has been progressing rapidly. Exploring of the subsurface of Earth has received a lot of attention to investigate such environment as volcano, ocean and space. Now advanced technologies are required in subsurface exploration and some countries have tried to meet these new challenges. A subsurface investigation of celestial bodies is regarded as a especially significant technology and it is expected to enhance our knowledge of environment. So, this paper aims to develop a subsurface robotic explorer in order to bury an instrument, such as a long period seismometer, for investigating the internal information. So far, the authors have proposed a novel screw drilling mechanism for burrowing exploration robot. With consideration of previous researches, this paper newly proposes its basic dynamics model and describes the analysis. The model is based on the geometric model of a screw drill and soil mechanics, and by the model a soil frictional torque against the screw can be estimated. By analyzing the geometry of the screw, an optimal design can be introduced. This paper shows the feasibility of the theoretical model by comparing with experimental results.
UR - http://www.scopus.com/inward/record.url?scp=77951490527&partnerID=8YFLogxK
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U2 - 10.1109/ROBIO.2009.5420396
DO - 10.1109/ROBIO.2009.5420396
M3 - Conference contribution
AN - SCOPUS:77951490527
SN - 9781424447756
T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
SP - 1579
EP - 1584
BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Y2 - 19 December 2009 through 23 December 2009
ER -