Runnability improvement of the moon rover with leg-circle transformable wheel

Ayako Torisaka*, Kohei Eguchi, Satoshi Miura, Victor Parque, Tomoyuki Miyashita

*この研究の対応する著者

研究成果: Paper査読

抄録

In this paper, we proposed a wheel equipped rover with deployable legs that can change the apparent wheel radius in order to improve the runnability of the rover which travels on the ground covered with lunar regolith. Furthermore, we formulated the driving force of the wheel based on Terramechanics and clarified the mechanism of the driving force change using our proposed rover wheel. In addition, the driving force was compared between the original wheel configuration and the leg expanded one in single wheel running experiments, and it was validated that the proposed leg expandable system exhibits higher driving force than the original circular wheel. With this system, in the case of a flat ground surface that does not require a high driving force, the vehicle should use the original wheel state, and when a high driving force is required such like the situation the vehicle need to escape the wheel from the local concaved ground, the proposed expandable leg system can be useful, and then the possibility of traveling on irregular surface efficiently not only on the moon but also on other planets was shown.

本文言語English
ページ55-56
ページ数2
出版ステータスPublished - 2019
外部発表はい
イベント30th International Conference on Adaptive Structures and Technologies, ICAST 2019 - Montreal, Canada
継続期間: 2019 10 72019 10 11

Conference

Conference30th International Conference on Adaptive Structures and Technologies, ICAST 2019
国/地域Canada
CityMontreal
Period19/10/719/10/11

ASJC Scopus subject areas

  • 機械工学
  • 土木構造工学
  • 材料力学
  • 建築および建設
  • 電子工学および電気工学

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