C3 月面探査ローバ用弾性車輪の接地面圧力分布に関する研究

概要

論文の詳細を見る
JAXA is examining research and development of an autonomous system, such as mobile rover required for searching ground and constructing basement on the lunar surface in succession of KAGUYA (SELENE) project. Because the lunar surface covered by irregular terrain and muddy soil called regolith, rover has a difficulty in running on such harsh environment. Therefore rover is required of taking a sustainable running mechanism that does not become cautions of fatal functional and mission stop. Then some functions are needed for rover running system on lunar surface, for example certain acting on brake and drive, removing adhered soil and tightens muddy soil. Newly flexible wheel is required to achieve running with high reliability by changing the wheel contact shape itself and being lower contact force on the ground. This paper describes the static measuring test results of flexible wheel contact and distributed pressure, and analysis results of flexible wheel dynamics model.
社団法人日本機械学会の論文
2009-01-23