Regolith Excavation Performance of a Screw‐Propelled Vehicle. (4th October 2021)

• Record Type: Journal Article
• Authors: Green, Marko; McBryan, Teresa; Mick, Darwin; Nelson, David; Marvi, Hamid
• Is Part Of: Advanced intelligent systems. Volume 5:Number 3(2023)
• Page Start: n/a
• Page End: n/a
• Publication Date: 2021-10-04
• Subjects: granular media -- in situ resource utilization excavation -- robotic mobility -- screw-propelled vehicles -- space robotics; Artificial intelligence -- Periodicals; Robotics -- Periodicals; Control theory -- Periodicals; 006.3
• DOI: 10.1002/aisy.202100125
• Languages: English
• ISSNs: 2640-4567

Abstract

Abstract : Excavation of regolith is the enabling process for many of the in situ resource utilization (ISRU) efforts that are being considered to aid in the human exploration of the moon and Mars. Most proposed planetary excavation systems are integrated with a wheeled vehicle, but none yet have used a screw‐propelled vehicle which can significantly enhance the excavation performance. Therefore, CASPER, a novel screw‐propelled excavation rover, is developed and analyzed to determine its effectiveness as a planetary excavator. The excavation rate, power, velocity, cost of transport, and a new parameter, excavation transport rate, are analyzed for various configurations of the vehicle through mobility and excavation tests performed in silica sand. The optimal configuration yields a 30 kg h −1 excavation rate and 10.2 m min −1 traverse rate with an overall system mass of 3.4 kg and power draw of less than 30 W. These results indicate that this architecture shows promise as a planetary excavation because it provides significant excavation capability with low mass and power requirements. An interactive preprint version of the article can be found here: https://doi.org/10.22541/au.162823910.04538641/v1 . Abstract : This paper begins with the motivations for this research and a literature review. Next, the materials and methods of the research are presented, including prototype and experimental design. Then the results of the experiments are presented and discussed. Finally, the paper concludes with a summary of the key results, and a discussion of potential avenues for future study.