This research introduces novel experimentation that for the first time subjects excavators to gravity offload (a cable pulls up on the robot with 5/6 its weight, to simulate lunar gravity) while they dig. Excavating with gravity offload underestimates the detrimental effects of gravity on traction, but overestimates the detrimental effects on excavation resistance. Though not ideal, this is a more balanced test than excavating in Earth gravity, which underestimates detrimental effects on both traction and resistance. A 300 kg excavator offloaded to 1/6 g successfully collects 0.5 kg/s using a bucket-wheel, with no discernable effect on mobility. For a discrete excavator of the same weight, production rapidly declines from the initial rate of 0.5 kg/s as rising excavation resistance stalls the robot. The experiments presented in this work demonstrate that continuous excavation fares better than discrete excavation when subjected to comparable reduced gravity circumstances. In Earth gravity, on the other hand, both the continuous and discrete configurations operated successfully. Excavation tests done exclusively in Earth gravity may thus misleadingly predict better excavation performance than is actually achievable in reduced gravity, and should be interpreted with caution.
The Advantages of Continuous Excavation in Lightweight Planetary Operations
Earth and Space 2014 ; 2014 ; St. Louis, Missouri
Earth and Space 2014 ; 384-393
2015-06-15
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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