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Demonstrations of Gravity-Independent Mobility and Drilling on Natural Rock using MicrospinesThe video presents microspine-based anchors be ing developed for gripping rocks on the surfaces of comets and asteroids, or for use on cliff faces and lava tubes on Mars. Two types of anchor prototypes are shown on supporting forces in all directions away from the rock; >160 N tangent, >150 N at 45?, and >180 N normal to the surface of the rock. A compliant robotic ankle with two active degrees of freedom interfaces these anchors to the Lemur IIB robot for future climbing trials. Finally, a rotary percussive drill is shown coring into rock regardless of gravitational orientation. As a harder- than-zero-g proof of concept, inverted drilling was performed creating 20mm diameter boreholes 83 mm deep in vesicular basalt samples while retaining 12 mm diameter rock cores in 3-6 pieces.
Document ID
20130010589
Document Type
Conference Paper
External Source(s)
Authors
Parness, Aaron (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Frost, Matthew (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
King, Jonathan P. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Thatte, Nitish (Ohio State Univ. OH, United States)
Date Acquired
August 27, 2013
Publication Date
May 7, 2012
Subject Category
Geophysics
Meeting Information
IEEE International Conference on Robotics and Automation (ICRA)(Saint Paul, MN)
Distribution Limits
Public
Copyright
Other
Keywords
microspine anchors
climbing mechanisms
climbing robots