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Model of a walking sampler for research of the bottom surface in the subglacial lake Vostok

Technologies and technical means for investigation of subglacial lakes in Antarctic is a new developing scientific and technical direction, which today has no clearly established methodology. Based on the developed technology of drilling a new access well to lake Vostok and its penetration as well as analysis of existing methods and devices for bottom sediment sampling, a basic model of a sampler with a walking-type mover, capable of moving along different trajectories and operating in a wide technological range, is proposed. The proposed device model is equipped with different actuators for sampling the bottom surface with different physical and mechanical properties. Based on the presented basic model of the walking sampler, a mathematical model of the device was developed, which was based on the theoretical mechanics methods. As a result of conducted research the dependencies were obtained, which allow making a scientifically justified choice of optimal values for geometric and force parameters of the walking sampler. A conceptual design of the walking sampler has been developed, taking into account the mutual location and coupling of its main components, the overall dimensions of the delivery tool, as well as the esthetic component of the device.