Development of an Inchworm Boring Robot(IBR) for planetary subsurface exploration

This paper proposes a novel Inchworm Boring Robot(IBR) for implementing investigations of scientific targets such as geothermal gradient, chemical composition, mechanical properties of regolith in the planetary subsurface. The IBR consists of three modules: a drilling module, a discharging module and a propulsion module. Drilling module and discharging module were respectively used to break and transport the regolith. Propulsion module can make linear motion between drilling module and discharging module. Therefore, IBR can achieve inchworm movement according to the timing motion of above three modules. In this paper, the two key tools, drill and auger, were elaborately designed and tested to figure out its load characteristics for future prototype of IBR. Next, the prototype of IBR was developed based on the tools design and a novel proposed transmission scheme. Finally, boring experiments for IBR were conducted on the test platform. In these boring experiments, IBR successfully access to 510mm depth in the regolith simulant and these results show that it is feasible for IBR to make borehole and carry out the planetary subsurface exploration.