Table of Contents Author Guidelines Submit a Manuscript
International Journal of Aerospace Engineering
Volume 2017 (2017), Article ID 1282791, 11 pages
Research Article

Drilling Load Model of an Inchworm Boring Robot for Lunar Subsurface Exploration

State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China

Correspondence should be addressed to Shengyuan Jiang

Received 13 January 2017; Revised 24 April 2017; Accepted 9 May 2017; Published 1 June 2017

Academic Editor: Paul Williams

Copyright © 2017 Weiwei Zhang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


In the past decade, the wireline robot has received increasing attention due to the advantages of light weight, low cost, and flexibility compared to the traditional drilling instruments in space missions. For the lunar subsurface in situ exploration mission, we proposed a type of wireline robot named IBR (Inchworm Boring Robot) drawing inspiration from the inchworm. Two auger tools are utilized to remove chips for IBR, which directly interacted with the lunar regolith in the drilling process. Therefore, for obtaining the tools drilling characteristics, the chips removal principle of IBR is analyzed and its drilling load model is further established based on the soil mechanical theory in this paper. And then the proposed theoretical drilling load model is experimentally validated. In addition, according to the theoretical drilling load model, this paper discusses the effect of the drilling parameters on the tools drilling moments and power consumption. These results imply a possible energy-efficient control strategy for IBR.