title: Bionic Design for Mars Sampling Scoop Inspired by Himalayan Marmot Claw.
abstract: Cave animals are often adapted to digging and life underground, with claw toes similar in structure and function to a sampling scoop. In this paper, the clawed toes of the Himalayan marmot were selected as a biological prototype for bionic research. Based on geometric parameter optimization of the clawed toes, a bionic sampling scoop for use on Mars was designed. Using a 3D laser scanner, the point cloud data of the second front claw toe was acquired. Parametric equations and contour curves for the claw were then built with cubic polynomial fitting. We obtained 18 characteristic curve equations for the internal and external contours of the claw. A bionic sampling scoop was designed according to the structural parameters ofCuriosity's sampling shovel and the contours of the Himalayan marmot's claw. Verifying test results showed that when the penetration angle was 45° and the sampling speed was 0.33 r/min, the bionic sampling scoops' resistance torque was 49.6% less than that of the prototype sampling scoop. When the penetration angle was 60° and the sampling speed was 0.22 r/min, the resistance torque of the bionic sampling scoop was 28.8% lower than that of the prototype sampling scoop.
authors.affiliation: Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China; School of Mechatronics and Engineering, East China Jiaotong University, Nanchang 330045, China.
authors.forename: Long
authors.identifier: 0000-0002-4140-7080
authors.initials: L
authors.lastname: Xue
authors.affiliation: Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China.
authors.forename: Rong Rong
authors.identifier: 0000-0002-5983-9711
authors.initials: RR
authors.lastname: Zhang
authors.affiliation: Aerospace System Engineering Shanghai, Shanghai 201108, China.
authors.forename: Wei
authors.identifier: 0000-0002-3747-933X
authors.initials: W
authors.lastname: Zong
authors.affiliation: Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China.
authors.forename: Jia Feng
authors.identifier: 0000-0003-4288-6084
authors.initials: JF
authors.lastname: Song
authors.affiliation: Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China.
authors.forename: Meng
authors.identifier: 0000-0003-0498-4791
authors.initials: M
authors.lastname: Zou