Investigation of Bulldozing Force and Compaction Effect When Running for Small Light Planetary Exploration Wheel Typed Rovers with Vibration

Exploration rovers made many discoveries in exploration missions of the Moon. In recent years, the small right rovers with wheels are focused on as planetary exploration rovers. The surface of the Moon is covered with the loose soils. On this ground, the wheel typed rovers slip and cannot move forward. Therefore, it is necessary to improve the running performance of the rovers. In this study, bulldozing force and the compaction effect are investigated for improving the running performance of planetary exploration wheel typed rovers with vibration. Normal force, sinkage of the testbed to the ground, and bulldozing force are measured when the wheel typed testbed runs while imparting vibration to the ground. As the experimental result, normal force and sinkage of the testbed are not changed by imparting vibration. Moreover, it is confirmed that the running performance of the testbed is improved when bulldozing force is reduced by imparting vibration to the ground. Therefore, decreasing the bulldozing force is effective for improving running performance of wheel typed rovers with vibration. The findings of this study suggest facilitating further planetary exploration using the rovers with wheels.