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Proceedings Paper

Adapting the ultrasonic/sonic driller/corer for walking/climbing robotic applications
Author(s): Mircea Badescu; Xiaoqi Bao; Yoseph Bar-Cohen; Zensheu Chang; Borna E. Dabiri; Brett Kennedy; Stewart Sherrit
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Paper Abstract

Future NASA's missions include the search for past and existing life in the Universe and evidence on how the planets in the Solar system formed and evolved. In order to fulfill these goals sampling systems that meet the stringent requirements of the various environments are required to be developed. To support these objectives an ultrasonic/sonic driller/corer (USDC) device has been developed at Jet Propulsion Laboratory (JPL) to allow drilling and coring rocks for in-situ planetary analysis [Bar-Cohen et al, 2001]. The site location and method of sampling are of vital importance to scientists. Surface rocks abrasion, small depth soil drilling, and deep drilling have been proposed. It has been suggested that another possible source of mineralogical or astrobiological information can be found by exploring the sidewall of canyons. The exploration of such sites requires the development of a limbed robotic system capable of walking and climbing slopes up to and including vertical faces and overhangs. An anchor/drilling mechanism is currently under development and is being installed on each leg of the four-legged Steep Terrain Access Robot (STAR). This paper presents the modeling, design, and preliminary testing results of the USDC for use as end-effectors of walking/climbing robots.

Paper Details

Date Published: 5 May 2005
PDF: 9 pages
Proc. SPIE 5762, Smart Structures and Materials 2005: Industrial and Commercial Applications of Smart Structures Technologies, (5 May 2005); doi: 10.1117/12.598870
Show Author Affiliations
Mircea Badescu, Jet Propulsion Lab. (United States)
Xiaoqi Bao, Jet Propulsion Lab. (United States)
Yoseph Bar-Cohen, Jet Propulsion Lab. (United States)
Zensheu Chang, Jet Propulsion Lab. (United States)
Borna E. Dabiri, Jet Propulsion Lab. (United States)
Brett Kennedy, Jet Propulsion Lab. (United States)
Stewart Sherrit, Jet Propulsion Lab. (United States)


Published in SPIE Proceedings Vol. 5762:
Smart Structures and Materials 2005: Industrial and Commercial Applications of Smart Structures Technologies
Edward V. White, Editor(s)

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