形状記憶合金を用いた超軽量月惑星探査ローバの提案

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  • Research on Ultra-Light-Weight Hopping Rover Using SMA Actuator

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<p>Planetary surface mobility is one of the key technologies for future deep space missions. However conventional rovers are so big and expensive. To enhance robotic surface exploration missions, small, light-weight explorers are required. Therefore this paper proposes a new hopping locomotion system for small planetary rover using shape-memory-alloy(SMA) actuator. The proposed mechanism is analysed based on SMA constitutive mathematical model. Simulation results show that proposed mechanism has the capability of horizontally 2.5 m jump under the 1/6 gravity environment.</p>

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