B103 沈下過渡状態を考慮したテラメ力ニクスに基づく車輪駆動カモデルの提案(OS13 月・惑星探査ロボットの運動と制御1)

概要

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The planetary surfaces are covered with soft soil, so the wheel of planetary rover easily slips and loses the traction. This paper presents a terramechanics-based wheel dynamics model to improve the rover mobility via considering the dynamic wheel sinkage. Terramechanics is a study of soil properties and an interaction between the wheel and soft soil. Since terramechanics-based wheel model considers only the static state of wheel sinkage, the wheel model is not applicable to the dynamic condition. Understanding the traction mechanics in the dynamic wheel sinkage is important in order to predict the wheel motion in the static state. We propose the dynamic normal force model to treat the dynamic wheel sinkage via considering the state variation of soil condition. Besides we present the wheel driving model in the dynamic wheel sinkage by considering the shear deformation modulus. We evaluate the proposed models by simulations.
一般社団法人日本機械学会の論文
2011-06-28