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

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/ijae/volume-2017/1282791/figures/1282791.fig.006a.svgz" name="1282791.fig.006a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Soil element</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/ijae/volume-2017/1282791/figures/1282791.fig.006b.svgz" name="1282791.fig.006b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Forces in space</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/ijae/volume-2017/1282791/figures/1282791.fig.006c.svgz" name="1282791.fig.006c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Forces on plane</td></tr></table>

<div>Forces analysis of chips element.</div>

International Journal of Aerospace Engineering

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Figure 6

Figure 6: Drilling Load Model of an Inchworm Boring Robot for Lunar Subsurface Exploration 