Proposition of a grasping system using a scroll chuck for a lunar excavation robot

Abstract

In order to process lunar underground excavation, we have developed a lunar earthworm-type excavation robot ("LEAVO"). As we achieved vertical excavation with it, we now aim to perform curving excavation to make LEAVO be able to collect samples more efficiently in a particular layer. To achieve this goal, it is necessary for the LEAVO's excavation sub-units to support the robot on different borehole diameters, because the diameter enlarges in curves. As the previously developed curving excavation system could not support correctly the robot in the curves, we propose in this paper a "grasping system using a scroll chuck" and test its output characteristics. By doing so, we will conclude if it can be applied in a curving excavation system.