Evolution of an Integrated Actuation Mechanism for Planetary Exploration Using Dual-Reciprocating Drilling

Accessing the subsurface of extraterrestrial bodies using drilling techniques plays a vital role in the search for life and understanding the history of the solar system. The Dual-Reciprocating Drill (DRD) is a biologically inspired technology based on the drilling concept of the Wood Wasp Ovipositor. By using two backwards facing teethed halves that reciprocate in opposition to
one another to grip the surrounding substrate, it is able to generate a traction force that reduces the overhead force required to achieve penetration. Previous experimentation of the DRD using a proof of
concept test bench has shown that lateral forces created by sideways movements significantly contributes to drilling performance. The system is also evolving to include an actuation mechanism integrated into the drill
heads. A new integrated design is being developed which will actively generate simultaneous reciprocating and lateral motion of the drill, allowing the investigation of the benefits of lateral forces and the testing of two new burrowing mechanisms.