Development of novel roboticized rock abrasion tool

A roboticized rock abrasion tool is considered to replace the geologistpsilas rock hammer to remove dusty and weathered surfaces of the rock. A roboticicized rock abrasion tool with three degrees of freedom has been developed in this paper. Planetary transmission system is used in the grinding driving system with two inputs (rotation motor and revolution motor) and two outputs (grinding wheel and cutting brush). The third actuator is to feed the grinding system. Abrasion experiments have been made to testify the feasibility. System abrasion experiments on the prototype of the lunar rover have been made to testify the function of the roboticized rock abrasion tool.