2P2-A18 不整地斜面走行を考慮した月面探査ローバの走行系システムの開発(宇宙ロボティクス・メカトロニクス)

概要

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Lunar rovers are required to move on rough terrain such as in craters and rear cliffs where it is scientifically very important to explore. Some researchers are developed locomotion systems to move on surface like this. Surface to move by rovers are set some types. As types of surface to move, this paper sets soft soil. There are some problems to move on soft soil. We have to examine to move efficiency on soft soil. Therefore, we consider a mechanism between soil and wheel. The locomotion systems are able to develop using the knowledge get from this mechanism. This paper focuses on the active suspension systems which can produce effective driving force on soft soil. The effective contacting force are produced when the angle of links of the active suspension are changed to get effective driving force according to knowledge of terramechanics. This paper describes about the relation of terramechanics, and proposes active suspension system using the knowledeg of terramechanics.
2008-06-06