开发可模块化部署的月球挖土机，提升月面资源利用效率
Design and Development of a Modular Bucket Drum Excavator for Lunar ISRU
- 采用3D打印设计轻量化挖斗，适配月球机器人平台
- 连续作业每小时挖172公斤，能耗仅0.86瓦时/公斤
- 模块化设计利于任务灵活调整，适合未来月球采掘任务
原位资源利用（ISRU）是实现可持续月面活动的关键技术。挖掘月壤是获取和利用月面资源的第一步。本文介绍了为日本月球愿景计划中的模块化机器人系统MoonBot开发的桶式挖斗。通过3D打印（PLA材料）制作原型，在沙池试验中评估其性能。该工具重4.8公斤，容积14.06升，连续作业时挖掘速率达777.54公斤/小时，单位能量消耗为0.022瓦时/公斤；批量作业时挖掘速率为172.02公斤/小时，单位能耗为0.86瓦时/公斤。结果表明该设计概念成功可行。其主要优势在于与MoonBot模块化平台的高度兼容性，支持灵活高效的任务规划。未来可集成传感器与自主控制系统以进一步优化挖掘过程。
原文摘要 · Abstract (English)
In-Situ Resource Utilization (ISRU) is one of the key technologies for enabling sustainable access to the Moon. The ability to excavate lunar regolith is the first step in making lunar resources accessible and usable. This work presents the development of a bucket drum for the modular robotic system MoonBot, as part of the Japanese Moonshot program. A 3D-printed prototype made of PLA was manufactured to evaluate its efficiency through a series of sandbox tests. The resulting tool weighs 4.8 kg and has a volume of 14.06 L. It is capable of continuous excavation at a rate of 777.54 kg/h with a normalized energy consumption of 0.022 Wh/kg. In batch operation, the excavation rate is 172.02 kg/h with a normalized energy consumption of 0.86 Wh per kilogram of excavated material. The obtained results demonstrate the successful implementation of the concept. A key advantage of the developed tool is its compatibility with the modular MoonBot robotic platform, which enables flexible and efficient mission planning. Further improvements may include the integration of sensors and an autonomous control system to enhance the excavation process.
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