Rassor Drum

OPERATION PRINCIPLE The rassor drum acts like a milling tool, removes a layer of soil and keeps it in the cavity. The optimal shape is therefore a spiral that carries the regolith inside the drum and releases it by turning in the opposite direction. As with milling tools, it can rotate clockwise or counterclockwise, and as you can see in the attached image, the results are different. In my model, if the drum rotates counterclockwise, the edge of the loading mouth hits the outer layer of the soil moving from top to bottom, while counterclockwise it is always in contact with the ground, removing a layer in lifting. For each direction of rotation there are pros and cons. In the first case, if there was a large stone, it would be driven into the ground, hindering rotation, while in the second case, the stones would also be lifted up and away from the series of nails that crawl on the ground, breaking up the compacted soil and removing stones, but in this second case the rotation produces resistance to advancement. I don't know if the system of the rassor foresees a drive governed entirely by artificial intelligence, the important thing is the need of flexibility to deal with the most disparate cases of operation. In addition to the movements already foreseen, I would suggest adding a 180 ° overturning of the arm that holds the pair of drums as seen in the attached video. With this simple addition the direction of rotation can easily change. In addition to this built-in mechanism, it must be remembered that the four drums must be made up of two specular pairs, by varying the mounting side to the drive flange many operating combinations can be obtained. Continuing with the analogy to the milling tools, the edge of the mouth must have a helicoidal shape to decrease the resistance to rotation and must be arranged symmetrically to avoid lateral thrusts on the support arm. In principle I preferred to avoid moving parts in addition to those already provided for a criterion of