Discussion on validity of lugged wheel model and evaluation method

Noriaki Mizukami, Kojiro Iizuka, Yasuharu Kunii

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Soft soil covers planetary surfaces, so the wheel of a planetary rover easily slips and gets stuck. In order to prevent increase in the slip and getting stuck, the wheel can have lugs that have a shape of a paddle to improve the wheel force. There have been some studies about the influence of the lugs. However, design method of an effective lug has not been studied well yet. Since terramechanics-based wheel models have been considered with a flat wheel surface, those models based on terramechanics are not applicable to the lugged wheel. In this research, in order to establish the design method of the effective lugs, a lugged wheel model was discussed and proposed regarding the variation of the shear characteristics. The variation of shear characteristics is indicated by a shear deformation modulus. The lugged wheel model is based on the shear deformation modulus varied by the lug design. In this paper, the simulation was performed to verify the validity of the lugged wheel model, and it was confirmed that the model could formulate the performance of the wheel traversability. Moreover, the wheel experimental device was described to understand the traversability of the lugged wheel. The evaluation method of the proposed lugged shear deformation model was also considered.

Original languageEnglish
Title of host publication2014 IEEE/SICE International Symposium on System Integration, SII 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages597-602
Number of pages6
ISBN (Electronic)9781479969449
DOIs
Publication statusPublished - 2014 Jan 30
Externally publishedYes
Event7th IEEE/SICE International Symposium on System Integration, SII 2014 - Tokyo, Japan
Duration: 2014 Dec 132014 Dec 15

Other

Other7th IEEE/SICE International Symposium on System Integration, SII 2014
CountryJapan
CityTokyo
Period14/12/1314/12/15

Fingerprint

Wheels
Shear deformation
Soils

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Networks and Communications
  • Information Systems

Cite this

Mizukami, N., Iizuka, K., & Kunii, Y. (2014). Discussion on validity of lugged wheel model and evaluation method. In 2014 IEEE/SICE International Symposium on System Integration, SII 2014 (pp. 597-602). [7028106] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2014.7028106

Discussion on validity of lugged wheel model and evaluation method. / Mizukami, Noriaki; Iizuka, Kojiro; Kunii, Yasuharu.

2014 IEEE/SICE International Symposium on System Integration, SII 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 597-602 7028106.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Mizukami, N, Iizuka, K & Kunii, Y 2014, Discussion on validity of lugged wheel model and evaluation method. in 2014 IEEE/SICE International Symposium on System Integration, SII 2014., 7028106, Institute of Electrical and Electronics Engineers Inc., pp. 597-602, 7th IEEE/SICE International Symposium on System Integration, SII 2014, Tokyo, Japan, 14/12/13. https://doi.org/10.1109/SII.2014.7028106
Mizukami N, Iizuka K, Kunii Y. Discussion on validity of lugged wheel model and evaluation method. In 2014 IEEE/SICE International Symposium on System Integration, SII 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 597-602. 7028106 https://doi.org/10.1109/SII.2014.7028106
Mizukami, Noriaki ; Iizuka, Kojiro ; Kunii, Yasuharu. / Discussion on validity of lugged wheel model and evaluation method. 2014 IEEE/SICE International Symposium on System Integration, SII 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 597-602
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