2P2-A19 応力分布測定ホイールによる土壌パラメータの推定(宇宙ロボティクス・メカトロニクス)

概要

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Generally, wheels of a planetary rover slip easily and lose their traction on loose soil on the Moon or Mars. Hence, it is very important to keep traction for each wheel. Such interaction between a wheel and a soil is studied in the research area called "Terra-mechanics." In the Terra-mechanics, the traction force is calculated with soil parameters that are estimated under ideal configuration. However, real environment does not have ideal configuration constantly. Therefore, it is difficult to estimate an accurate traction force online. In this research, to estimate an accurate traction force, a wheel with built in force-sensors-array (BFSA) was developed. It acquires normal stress distribution online. By using such sensors, we performed measurement experiments in different slip ratio and different soils. Finally, one soil parameter which is difficult to estimate by way of conventional method was estimated by comparison between calculated traction forces (based on the BSFA wheel) and actual measured forces.
一般社団法人日本機械学会の論文
2008-06-06