高速走行する月惑星探査ローバーのためのサスペンション機構の開発と実験的評価

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  • Development and Experimental Evaluation of Suspension Mechanism for High-Speed Lunar Rover

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<p>Historically, several wheeled robots have been deployed on the Moon and Mars to conduct detailed exploration of the planetary surfaces. However, all of their traversing speeds are restricted to a few centimeters per second, thus covering only a limited area each day. To overcome this limitation and enable wide area exploration, our research group has developed a high-speed rover test bed to advance research on high-speed rover exploration on challenging terrains. The rover is equipped with a hybrid suspension system that combines a rocker mechanism and independent spring-damper suspension for each wheel to reduce vibrations at high speeds． To evaluate the effectiveness of this suspension mechanism, we conducted indoor experiments in which the rover overcame step-shaped obstacles using various suspension configurations.</p>

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