论文标题
挖掘和去除土壤的摩尔机构的挖掘和分析：生物启发的摩尔钻孔机器人
Development and Analysis of Digging and Soil Removing Mechanisms for Mole-Bot: Bio-Inspired Mole-Like Drilling Robot
论文作者
论文摘要
由于现有资源的耗尽，探索新能源的兴趣正在增加。为了探索新的能源，已经进行了各种研究，以改善钻井设备的钻孔性能，以实现深层和强壮的地面。但是，具有更好的性能，现代的钻井设备是笨重的，此外，在安装和操作方面都变得不便，因为它为复杂的地形采取了复杂的过程。此外，由于过度使用泥浆和泥浆来去除发掘的土壤，因此环境问题也是一个问题。为了克服这些局限性，提出了结合可扩展的钻头和链接结构以模拟摩尔和前肢的功能的机制。在本文中，提议的可扩展钻头简化了动物头的自由度的复杂性和高度。另外，提出了模仿肩膀结构和前脚运动的碎屑清除机制。为了清除有效的碎屑，该提出的机制可以通过使用单个执行器同时旋转和扩展钻头的折叠/折叠运动。提出的系统的性能通过动态模拟和实验评估。
Interests in exploration of new energy resources are increasing due to the exhaustion of existing resources. To explore new energy sources, various studies have been conducted to improve the drilling performance of drilling equipment for deep and strong ground. However, with better performance, the modern drilling equipment is bulky and, furthermore, has become inconvenient in both installation and operation, for it takes complex procedures for complex terrains. Moreover, environmental issues are also a concern because of the excessive use of mud and slurry to remove excavated soil. To overcome these limitations, a mechanism that combines an expandable drill bit and link structure to simulate the function of the teeth and forelimbs of a mole is proposed. In this paper, the proposed expandable drill bit simplifies the complexity and high number of degrees of freedom of the animal head. In addition, a debris removal mechanism mimicking a shoulder structure and forefoot movement is proposed. For efficient debris removal, the proposed mechanism enables the simultaneous rotation and expanding/folding motions of the drill bit by using a single actuator. The performance of the proposed system is evaluated by dynamic simulations and experiments.
