This paper describes development and testing of low-mass, low-power drills for the Axel rover. Axel is a two-wheeled tethered rover designed for the robotic exploration of steep cliff walls, crater walls and deep holes on earth and other planetary bodies. The Axel rover has a capability to deploy scientific instruments and/or samplers in the areas of interest to scientists currently inaccessible by conventional robotic systems. To enable sample recovery, we developed two drills: NanoDrill for acquisition of 25 mm long and 7 mm diameter cores and PowderDrill for acquisition of either in situ regolith/soil or drilled cuttings from depths of up to 15 mm. Both drills have been successfully tested in laboratory in limestone and sandstone rocks and on-board the Axel rover in the Mars Yard at NASA JPL. The drills managed to acquire limestone and sandstone cores and powder, with an average power of less than 5 Watts. The penetration rate of the NanoDrill was ~ 2 mm/min and of the PowderDrill it was ~9 mm/min. After sample acquisition, both drills successfully ejected of the acquired samples (cores and powder).
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机译:本文介绍了对轴流钻孔的低质量,低功率钻头的开发和测试。 Axel是一款两轮系绳虎,专为陡峭的悬崖墙,火山口墙和地球上的深孔和其他行星体的机器人探索而设计。 Axel Rover有能力部署在常规机器人系统目前无法访问的科学家的感兴趣领域的科学仪器和/或采样器。为了启用样品恢复,我们开发了两次钻头:用于采集25毫米长,直径为7毫米的核心和粉末,用于从最高15毫米的深度获取原位石油/土壤或钻孔的切割。在石灰石和砂岩岩石中,两次钻头都在实验室中成功地测试,并在美国宇航局JPL的火星院子里在车辆队伍中进行了。该钻头设法获得石灰石和砂岩芯和粉末,平均功率低于5瓦。纳米氧化铝的渗透率为约2mm / min,粉末状〜9mm / min。在采集后,两次钻头都成功地喷射了所获得的样品(芯和粉末)。
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