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Please use this identifier to cite or link to this item:
http://hdl.handle.net/2014/42768
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| Title: | Demonstrations of gravity-independent mobility and drilling on natural rock using microspines |
| Authors: | Parness, Aaron
Frost, Matthew
King, Jonathan P.
Thatte, Nitish |
| Keywords: | climbing mechanisms
climbing robots
microspine anchors |
| Issue Date: | 7-May-2012 |
| Publisher: | Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2012. |
| Citation: | IEEE International Conference on Robotics and Automation (ICRA), St. Paul, Minnesota, May 14-18, 2012 |
| Abstract: | The 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. |
| URI: | http://hdl.handle.net/2014/42768 |
| Appears in Collections: | JPL TRS 1992+
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