アクティブサスペンションを有する探査ローバの不整地走破性能に関する考察(機械力学,計測,自動制御)

DOI Web Site Web Site 参考文献13件

書誌事項

タイトル別名
  • Study on Rough Terrain Traversability of Rover Mobility System with Active Suspension(Mechanical Systems)
  • アクティブサスペンションを有する探査ローバの不整地走破性能に関する考察
  • アクティブ サスペンション オ ユウスル タンサ ローバ ノ フセイチ ソウハ セイノウ ニ カンスル コウサツ

この論文をさがす

抄録

In planetary missions, rovers that can traverse over rough terrain are required in order to explore craters and slopes which have high scientific value. Rovers with wheeled locomotive system are used broadly in planetary missions, because the wheeled locomotive system has low energy consumption and its configuration is simpler than other types of locomotive system, such as the tracked locomotive system. However, wheeled robots have low traversability. In order to solve this problem, various methods have been developed. For example, the rocker bogie suspension is one of the most well-known methods to improve traversability. Sojourner and MER have a rocker-bogie suspension that has worked successfully on Mars. To traverse over more challenging terrain, however, passive suspension is inadequate. Recently, several rovers with active suspension have been studied. In this paper, the authors propose a new mobility system with active suspension, which has high efficiency and high traversability. The simulation results show the effectiveness of the proposed mobility system in its ability to climb slopes and its stability from tip over when traversing various rough terrain using active suspension.

収録刊行物

参考文献 (13)*注記

もっと見る

キーワード

詳細情報 詳細情報について

問題の指摘

ページトップへ