B110 軟弱地盤における小型月面探査ローバ用車輪の走行性能評価(OS13 月・惑星探査ロボットの運動と制御2)

概要

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Lunar and planetary explorations have been increasingly planned across the world where mobility on the planetary/lunar surface is needed. In this paper we propose a new type of very small rover - typically with the weight of less than 2kg. Several new ideas are proposed: simplified locomotion mechanism with elastic wheels, extremely small fish-eye camera system, light-weight extension system using shape-memory alloy and tiny observation probe for investigating a hole connected to a lunar lava tube. In this paper, we focus on small typed wheels, especially the running performance of elastic wheels. As first step to develop lunar mobile rovers with high performance, we carried out the experiments (to measure deflection and travesabily loose soil and steppability of proposed elastic wheels). From these results, we confirmed the effect of the elastic wheels.
一般社団法人日本機械学会の論文
2011-06-28