弾性特性を考慮した軟弱砂地盤走行のための月面探査車輪型ロボットの車輪形状検討（車輪と軟弱地盤の相互作用を考慮した弾性車輪の効果）

DOI Web Site 被引用文献4件

書誌事項

タイトル別名
  • Study on Wheeled Forms of Lunar Robots Considering Elactic Characteristic for Traversing Soft Terrain (Effect of Elastic Wheel Considering in Interaction Between Wheel and Soft Soil)
  • Effect of Elastic Wheel Considering in Interaction Between Wheel and Soft Soil
  • 車輪と軟弱地盤の相互作用を考慮した弾性車輪の効果

抄録

Lunar rovers are required to move on rough terrains such as in craters and rear cliffs where it is scientifically very important to explore. In the past, wheel typed rovers are popular for planetary exploration missions. However, there is a problem that the wheel typed rovers have possibility of stack. Therefore, this paper investigates a mechanism of kinetic behavior between the wheels of the exploration rovers and soil. The important parameters are extracted by considering the mechanism. This paper proposes an elastic wheel by considering the important parameters. The elastic wheel has the surface which can be changed flexibly toward rough terrain. Running Experiments on soil which imitated Regolith are carried out to observe the traversability of the elastic wheel using slip ratio and sinkage.

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