TY - GEN
T1 - STUDY ON WHEEL TYPED ROVERS WITH SOIL HARDENING FUNCTION BY VIBRATION TO TRAVEL ON LOOSE SOIL
AU - Watanabe, Tomohiro
AU - Iizuka, Kojiro
N1 - Funding Information:
This work was supported by JSPS Grants-in-Aid for Scientific Research JP18K04027. Moreover, this work was supported by REFEC (Research Foundation for the Electrotechnology of Chubu).
Publisher Copyright:
© ISTVS 2021. All rights reserved.
PY - 2021
Y1 - 2021
N2 - 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. Purpose of our research is to improve the running performance of the small wheel typed rovers using effects which are given by vibration to the ground. When the loose ground is given vibration, density of the ground and sinkage of wheels are increased. In this research, how to use these vibration effect to improve running performance is confirmed. First, the difference of ground before and after vibrating were confirmed by implemented any experiments such as measurement of shearing strength and sinkage. These experiments were carried out using some different shape wheels. As a result, the value of shearing strength and sinkage of leg were increased after vibration. Moreover, these values were different by shapes of wheel. Furthermore, these effects given by vibration are confirmed using the small wheel typed testbed. Some experiments using the testbed to run on the loose ground were carried out using some vibration timing patterns. In experimental results, the slip ratio of running was different when vibration patterns and shape of wheel were changed.
AB - 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. Purpose of our research is to improve the running performance of the small wheel typed rovers using effects which are given by vibration to the ground. When the loose ground is given vibration, density of the ground and sinkage of wheels are increased. In this research, how to use these vibration effect to improve running performance is confirmed. First, the difference of ground before and after vibrating were confirmed by implemented any experiments such as measurement of shearing strength and sinkage. These experiments were carried out using some different shape wheels. As a result, the value of shearing strength and sinkage of leg were increased after vibration. Moreover, these values were different by shapes of wheel. Furthermore, these effects given by vibration are confirmed using the small wheel typed testbed. Some experiments using the testbed to run on the loose ground were carried out using some vibration timing patterns. In experimental results, the slip ratio of running was different when vibration patterns and shape of wheel were changed.
KW - Loose soil
KW - Small wheel typed rover
KW - Terramechanics
KW - Vibration
UR - http://www.scopus.com/inward/record.url?scp=85124555318&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85124555318&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:85124555318
T3 - Proceedings of the 20th International and 9th Americas Conference of the International Society for Terrain-Vehicle Systems, ISTVS 2021
BT - Proceedings of the 20th International and 9th Americas Conference of the International Society for Terrain-Vehicle Systems, ISTVS 2021
A2 - Martelli, Massimo
A2 - Kovecses, Jozsef
A2 - Shenvi, Mohit
A2 - Dixon, Jenna
PB - International Society for Terrain Vehicle Systems
T2 - 20th International and 9th Americas Conference of the International Society for Terrain-Vehicle Systems, ISTVS 2021
Y2 - 27 September 2021 through 29 September 2021
ER -