Load Characteristics Analysis And Experiments Of Lunar Regolith Conveying For Inchworm Boring Robot

Inchworm boring robot was developed for reaching a larger depth compare with the traditional lunar soil detecting method. And the device have some feature that it can get rich scientific data, mechanical and temperature properties of lunar regolith, by bury an instrument in subsurface with low weight and power consumption. The device moving forward by the screwblades relay conveying lunar soil making space before its forward derection.To obtain the high performance of the device study the mechanism of relay conveying lunar soil by creep-boring device is the key problem. This paper use experiment method research the soil behavoir in the screw and optimazing the kinetic parameters.This paper analysis the principle of the creep boring motion and the load of the device relay conveying lunar soil. It provide research foundation for the subsequent test platform developeding, analysis load characteristics and experimental study. The rear end pressure model was been built by using Jasssen theory and analysis the ability of the creep-boring device. Design power consumption index for kinetic optimaziton.Inchworm boring robot’s relay convey lunar soil load parameter test-bed was been built.The Scheme of the test-bed have been proposed and designed rotary drive componnents and linear drive components. Designed controll system of the system and have built up the hardware and software of the test-bed. The test system peformance test experiment have been completed.Base on the Mohr Coulomb failure criterion and Rankine’s passive earth pressure theory, the cone bit cutting native lunar soil load model was been builted. According auger theory, a srew relay convoying lunar soil model was been built. Use the test-bed completed the load test experiment, proved the correct of the model. Analysed the factor afeccting the load of the lunar soil filling in the cache structure. Completed the experiment of drilling test, obtain the relationship between the height and drill load. These study subsequent motion parameters and experimental studies provide a theoretical basis for subsequent kinetic parameters optimizition and experimental research.Optimized Kinetiic parameter of the device, and verified by experiments. Conduct experimental research, analysed the influnce of the rotation speed, fixmechanism and the different porosity of lunar soil to the relay convey lunar regolith load.