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 language | English |
|---|---|
| Title of host publication | Joint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010, ISR/ROBOTIK 2010 |
| Pages | 842-847 |
| Number of pages | 6 |
| Volume | 2 |
| Publication status | Published - 2010 |
| Externally published | Yes |
| Event | Joint 41st International Symposium on Robotics, ISR 2010 and 6th German Conference on Robotics 2010, ROBOTIK 2010 - Munich Duration: 2010 Jun 7 → 2010 Jun 9 |
Other
| Other | Joint 41st International Symposium on Robotics, ISR 2010 and 6th German Conference on Robotics 2010, ROBOTIK 2010 |
|---|---|
| City | Munich |
| Period | 10/6/7 → 10/6/9 |
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ASJC Scopus subject areas
- Artificial Intelligence
- Human-Computer Interaction
Cite this
Measurement of stress distribution of flexible wheels for lunar rover. / Iizuka, Kojiro; Kubota, Takeshi; Kubota, Takashi.
Joint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010, ISR/ROBOTIK 2010. Vol. 2 2010. p. 842-847.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Measurement of stress distribution of flexible wheels for lunar rover
AU - Iizuka, Kojiro
AU - Kubota, Takeshi
AU - Kubota, Takashi
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84881463643&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84881463643&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84881463643
SN - 9781617387197
VL - 2
SP - 842
EP - 847
BT - Joint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010, ISR/ROBOTIK 2010
ER -