Measurement of stress distribution of flexible wheels for lunar rover

Kojiro Iizuka, Takeshi Kubota, Takashi Kubota

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

2 Citations (Scopus)

Abstract

Lunar rovers are required to move on rough terrains such as in craters and rear cliffs where it is scientifically very impor-Tant to explore. Recently, wheel typed rovers are popular for planetary exploration missions. However, there is a problem that the wheel typed rovers have possibility of stack. Therefore, this paper investigates a mechanism of kinetic behavior between the wheels of the exploration rovers and soil. This paper proposed an flexible wheel to solve like that problems. The flexible wheel has the surface which can be changed flexibly toward rough terrain. Running experiments on loose soil which imitated regolith are carried out to observe the traversability of the flexible wheel using slip ratio and sinkage. Traversality of flexible wheel was better than the circular wheel. We believe that stress distribution is important. Therefore, we construct system to measure stress and get information of stress distribution of proposed flexible wheel.

Original languageEnglish
Title of host publicationJoint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010, ISR/ROBOTIK 2010
Pages842-847
Number of pages6
Publication statusPublished - 2010 Dec 1
EventJoint 41st International Symposium on Robotics, ISR 2010 and 6th German Conference on Robotics 2010, ROBOTIK 2010 - Munich, Germany
Duration: 2010 Jun 72010 Jun 9

Publication series

NameJoint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010, ISR/ROBOTIK 2010
Volume2

Conference

ConferenceJoint 41st International Symposium on Robotics, ISR 2010 and 6th German Conference on Robotics 2010, ROBOTIK 2010
CountryGermany
CityMunich
Period10/6/710/6/9

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

Iizuka, K., Kubota, T., & Kubota, T. (2010). Measurement of stress distribution of flexible wheels for lunar rover. In Joint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010, ISR/ROBOTIK 2010 (pp. 842-847). (Joint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010, ISR/ROBOTIK 2010; Vol. 2).