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Gravity-independent mobility and drilling on natural rock using microspines

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dc.contributor.author Parness, Aaron
dc.contributor.author Frost, Matthew
dc.contributor.author Thatte, Nitish
dc.contributor.author King, Jonathan P.
dc.date.accessioned 2013-02-25T21:07:38Z
dc.date.available 2013-02-25T21:07:38Z
dc.date.issued 2012-05-07
dc.identifier.citation IEEE International Conference on Robotics and Automation (ICRA), St. Paul, Minnesota, May 14-18, 2012 en_US
dc.identifier.clearanceno 12-0914
dc.identifier.uri http://hdl.handle.net/2014/42766
dc.description.abstract To grip rocks on the surfaces of asteroids and comets, and to grip the cliff faces and lava tubes of Mars, a 250 mm diameter omni-directional anchor is presented that utilizes a hierarchical array of claws with suspension flexures, called microspines, to create fast, strong attachment. Prototypes have been demonstrated on vesicular basalt and a‘a lava rock supporting forces in all directions away from the rock. Each anchor can support >160 N tangent, >150 N at 45◦, and >180 N normal to the surface of the rock. A two-actuator selectively- compliant ankle interfaces these anchors to the Lemur IIB robot for climbing trials. A rotary percussive drill was also integrated into the anchor, demonstrating self-contained rock coring regardless of gravitational orientation. As a harder- than-zero-g proof of concept, 20mm diameter boreholes were drilled 83 mm deep in vesicular basalt samples, retaining a 12 mm diameter rock core in 3-6 pieces while in an inverted configuration, literally drilling into the ceiling. en_US
dc.description.sponsorship NASA/JPL en_US
dc.language.iso en_US en_US
dc.publisher Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2012. en_US
dc.subject climbing mechanisms en_US
dc.subject climbing robots en_US
dc.title Gravity-independent mobility and drilling on natural rock using microspines en_US
dc.type Preprint en_US
dc.subject.NASATaxonomy Cybernetics, Artificial Intelligence and Robotics en_US


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