Study on connection between shape of wheel and resistance force from ground for small wheel typed rovers

In recent years, the small wheel typed rovers are focused on as an exploring rover. However, running performance of the small wheel typed rovers is not good. It is difficult to compact the ground by wheels because weight of these rovers is small. Therefore, drawbar pull is low. In previous research, the movement method which improves the running performance of these rovers using effects which are given by vibration to the ground was proposed. Some experiments were carried out in order to confirm effective of proposed method. From theses experimental results, we could get knowledge that how to use vibration to improve running performance for the small wheel typed rovers. Moreover, it was confirmed that sinkage of the wheels to the ground is increased when vibration is given to the ground from the wheel. Sinkage of the wheels to the ground decrease running performance of rover. In this research, the relationship between the shape of wheel and resistance force from the ground was confirmed in order to propose the wheel which reduce subsidence amount to the ground when vibration is given to the ground. In experimental results, the wheel which has flange on side reduced subsidence amount to the ground.