Development of Propulsion Unit for Three Dimensional Movement in Sub-seafloor Exploration

Abstract

We develop a flexible propulsion unit capable of three-dimensional movement. This unit would be used to drive the sub-seafloor excavation robot for sub-seafloor exploration. The propulsion unit comprised two passive joints and three propulsion subunits, including a gripping mechanism and a pneumatic cylinder. We experimentally tested the performance of the propulsion subunit, and confirmed that it was able to propel itself through both a straight borehole and a curved duct, at similar speeds.