Abstract
Subsurface sampling systems for future lunar robotic missions, which include reliable methods of acquiring and delivering samples to scientific instruments or return capsules for further analysis, are of extreme significance to the success of future in-situ and sample return explorations. Thus, this paper presents a novel multi-DOF sampler, which is designed to perform subsurface regolith sampling for lunar or planetary subsurface exploration in the near future. The sampler is mainly composed of three rigid links and one flexible link. Compared to most of conventional samplers, the developed sampler has several significant merits, e.g. small shrinking volume, large working space and low power consumption. Considering the influence brought from flexible links, the modified kinematic control theory is analyzed and applied to the sampler. At last, the lab-based experiments show the effectiveness of the proposed mechanisms and the feasibility of the sampler.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
