月面探査用蠕動運動型掘削ロボットLEAVOにおける分散駆動型掘削システムの開発

抄録

In order to excavate lunar underground, we have developed a lunar earthworm-type excavation robot “LEAVO”. The target missions of LEAVO are 1) excavate boreholes for environmental sensors and 2) collect some samples in particular layer. LEAVO has succeeded in 938 mm vertical excavation and we confirmed its usefulness in the target mission 1). Then, we now aim to study curving excavation to achieve target mission 2). This study aims to excavate regolith in a particular layer with LEAVO. For this reason, new driving system is developed. It enables to deploy drive motor on the circumference of the excavating axis so LEAVO can curve easily. Therefore, the authors conduct excavation experiment using excavating unit, and check the possibility of the proposed system.