Adapting the ultrasonic/sonic driller/corer for walking/climbing robotic applications

Mircea Badescu; Xiaoqi Bao; Yoseph Bar-Cohen; Zensheu Chang; Borna E. Dabiri; Brett Kennedy; Stewart Sherrit

doi:10.1117/12.598870

5 May 2005 Adapting the ultrasonic/sonic driller/corer for walking/climbing robotic applications

Mircea Badescu, Xiaoqi Bao, Yoseph Bar-Cohen, Zensheu Chang, Borna E. Dabiri, Brett Kennedy, Stewart Sherrit

Proceedings Volume 5762, Smart Structures and Materials 2005: Industrial and Commercial Applications of Smart Structures Technologies; (2005) https://doi.org/10.1117/12.598870
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2005, San Diego, California, United States

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.

Citation Download Citation

Mircea Badescu, Xiaoqi Bao, Yoseph Bar-Cohen, Zensheu Chang, Borna E. Dabiri, Brett Kennedy, and Stewart Sherrit "Adapting the ultrasonic/sonic driller/corer for walking/climbing robotic applications", Proc. SPIE 5762, Smart Structures and Materials 2005: Industrial and Commercial Applications of Smart Structures Technologies, (5 May 2005); https://doi.org/10.1117/12.598870

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available