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

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

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 sta...

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Veröffentlicht in:TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 2008/12/25, Vol.74(748), pp.2962-2967
Hauptverfasser: IIZUKA, Kojiro, KUNII, Yasuharu, KUBOTA, Takashi
Format: Artikel
Sprache:eng ; jpn
Schlagworte:
Elastic
Lunar Rovers
Shearing Strength
Soil
Stress Distribution
Wheel
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container_issue 748
container_start_page 2962
container_title TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
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creator IIZUKA, Kojiro
KUNII, Yasuharu
KUBOTA, Takashi
description 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.
doi_str_mv 10.1299/kikaic.74.2962
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source Elektronische Zeitschriftenbibliothek - Frei zugängliche E-Journals; J-STAGE (Japan Science & Technology Information Aggregator, Electronic) Freely Available Titles - Japanese
subjects Elastic
Lunar Rovers
Shearing Strength
Soil
Stress Distribution
Wheel
title 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
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