Kinematics analysis of a robotic rock grinder  

作　　者：LIU JinGuo WANG YueChao LI Bin MA ShuGen 

机构地区：[1]Robotics Laboratory of Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang 110016, China [2]Graduate School of Chinese Academy of Sciences, Beijing 100039, China [3]COE Research Institute, Ritsumeikan University, Shiga-ken 525-8577, Japan

出　　处：《Chinese Science Bulletin》2007年第23期3299-3304,共6页

基　　金：Supported by the Chinese Academy of Sciences Innovative Research Fund (Grant No. A050105) and the GUCAS-BHPB Billiton Scholarship

摘　　要：With the aim to discover water, life and resources in other planets, robotic sampling instrument is a crucial part of the space exploration robot. To remove dusty and weathered surfaces and expose the fresh rock underneath the planetary surface, a robotic rock grinder is considered to replace the geolo- gist’s rock hammer to carry out the geological investigation. A primary prototype of the robotic rock grinder with three degrees of freedom has been developed in this paper. Planetary transmission system is used in the grinding driving system with two inputs (rotation motor and revolution motor) and two outputs (grinding wheel and cutting brush). The grinding wheel with two teeth has been used to abrade the rock. The cutting brush is used to sweep the debris. The third actuator is to feed the grinding sys- tem. Kinematics of the grinding system has been analyzed. To get a continuous and smooth fresh face over the rock, grinding trajectory of the grinding wheel has been discussed and planned. Lastly, abra- sion experiments have been made to testify the feasibility and the basic function of this system.With the aim to discover water, life and resources in other planets, robotic sampling instrument is a crucial part of the space exploration robot. To remove dusty and weathered surfaces and expose the fresh rock underneath the planetary surface, a robotic rock grinder is considered to replace the geologist＇s rock hammer to carry out the geological investigation. A primary prototype of the robotic rock grinder with three degrees of freedom has been developed in this paper. Planetary transmission system is used in the grinding driving system with two inputs （rotation motor and revolution motor） and two outputs （grinding wheel and cutting brush）. The grinding wheel with two teeth has been used to abrade the rock. The cutting brush is used to sweep the debris. The third actuator is to feed the grinding system. Kinematics of the grinding system has been analyzed. To get a continuous and smooth fresh face over the rock, grinding trajectory of the grinding wheel has been discussed and planned. Lastly, abrasion experiments have been made to testify the feasibility and the basic function of this system.

关 键 词：岩石 机器人 研磨技术 行星 粉碎机 

分 类 号：P3[天文地球—地球物理学]