Excavation model of soil sampling device based on particle image velocimetry
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- 作者：Daiki Mori ; d.masahi122@z7.keio.jp" class="auth_mail" title="E-mail the corresponding author ; Genya Ishigami ishigami@mech.keio.ac.jp" class="auth_mail" title="E-mail the corresponding author
- 关键词：Planetary rovers ; Robotic arm ; End-effector ; Soil sampling
- 刊名：Journal of Terramechanics
- 出版年：2015
- 出版时间：December 2015
- 年：2015
- 卷：62
- 期：Complete
- 页码：19-29
- 全文大小：2715 K
文摘
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Energy-efficient strategy for sampling Martian subsurface soil is proposed.
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End-effector shape suitable for subsurface soil sampling is determined.
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A soil–tool interaction model is formulated based on particle image velocimetry.
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The interaction model calculates the forces and torque during the sampling procedure.
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The interaction model estimates the energy consumption and the most efficient tool size.