Study on traversability with consideration of wheeled forms for lunar and planetary exploration rovers

Kojiro Iizuka; Yoshinori Sato; Yoji Kuroda; Takashi Kubota

doi:10.1299/kikaic.72.3842

Study on traversability with consideration of wheeled forms for lunar and planetary exploration rovers

Kojiro Iizuka, Yoshinori Sato, Yoji Kuroda, Takashi Kubota

Research output: Contribution to journal › Article › peer-review

4 Citations (Scopus)

Abstract

In future planetary exploration missions, planetary robots are required to traverse over very rough terrain. On the lunar surface, there are covered with soils which are named regolith. Regolith is easy to slide. Any stack is easy to occur to the rovers which are running on the regolith. The mechanism, which occurs stacks, is not yet clear. Therefore, this paper investigates the kinematics behavior of lunar rovers with tire-soil traction mechanism. This traction mechanism shows two important parameters for running wheel on regolith. One is the effect of hardening. And the other is the effect of shearing. New wheel forms are designed by considering these effects. Some experiments using the proposed wheels are performed to observe the performance of traversability. Analysis of experimental results shows that to combine these two effects is effective.

Original language	English
Pages (from-to)	3842-3847
Number of pages	6
Journal	Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	72
Issue number	12
DOIs	https://doi.org/10.1299/kikaic.72.3842
Publication status	Published - 2006 Dec
Externally published	Yes

Keywords

Hardening effect
Planetary exploration robots
Shearing stress
Soil and wheel

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

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10.1299/kikaic.72.3842

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Study on traversability with consideration of wheeled forms for lunar and planetary exploration rovers. / Iizuka, Kojiro; Sato, Yoshinori; Kuroda, Yoji et al.
In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 72, No. 12, 12.2006, p. 3842-3847.

Research output: Contribution to journal › Article › peer-review

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Study on traversability with consideration of wheeled forms for lunar and planetary exploration rovers

Abstract

Keywords

ASJC Scopus subject areas

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