Modular Motion-Structure Design Model for Planetary Surface Sampling

Table 1

Parameter definition of the digging spoon.

Module no.	Cross section	Cutting contour	Scan path	Zero value parameters	Lateral deflection
1	Flat	Arc	Segment
2, 9	Curved	Segment	Segment		90°
3, 8	Flat	Segment	Segment		90°
4, 7	Curved	Segment	Segment		90°
5	Flat	Arc	Segment
6	Flat	Arc	Segment

The scan path for module 5 is nonvertical; the original shape for module 6 is a flat plate, where four corners should perform arc cutting, considering this plate is of symmetrical shape with two symmetrical axes; hence, the plate can be split into four identical plates along the vertical and horizontal axis.