Study on effectiveness of vibrating wheel's shape for improving running performance of small planetary exploration rovers with wheels on loose ground

Tomohiro Watanabe, Kojiro Iizuka

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

Abstract

In planetary explorations, exploring robots which are called rovers has been used. They achieved significant results in these missions. In recent years, small wheel typed rovers are focused on as exploring rovers in order to reduce the cost of planetary explorations. The ground of some planets is covered with loose soil. Therefore, these rovers must be able to run on these ground. The purpose of this study is improving running performance of small wheel typed rovers using the changes of the ground by giving vibration. In previous study, we could get knowledge that the running performance for small wheel typed rovers was improved using the changes of the ground by giving vibration. However, it was also confirmed that sinkage of the wheels to the ground is increased when vibration is given to the ground from the wheels. Sinkage of the wheels to the ground decreases the running performance of these rovers. In this study, the relationship between shapes of wheels and resistance force from the ground is confirmed in order to propose the wheel which reduces subsidence amount to the ground when vibration is given to the ground. Moreover, the relationship between shapes of wheels and running performance of rovers is confirmed by the experiment that the testbed runs on the loose ground. In the experimental result, the running performance of the testbed is improved using the wheel which reduces subsidence amount to the ground.

Original languageEnglish
Title of host publication2021 6th International Conference on Mechanical Engineering and Robotics Research, ICMERR 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages122-129
Number of pages8
ISBN (Electronic)9781665406420
DOIs
Publication statusPublished - 2021
Event6th International Conference on Mechanical Engineering and Robotics Research, ICMERR 2021 - Virtual, Krakow, Poland
Duration: 2021 Dec 112021 Dec 13

Publication series

Name2021 6th International Conference on Mechanical Engineering and Robotics Research, ICMERR 2021

Conference

Conference6th International Conference on Mechanical Engineering and Robotics Research, ICMERR 2021
Country/TerritoryPoland
CityVirtual, Krakow
Period21/12/1121/12/13

Keywords

  • Loose soil
  • Small wheel typed rover
  • Terramechanics
  • Vibration

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Mechanical Engineering
  • Control and Optimization

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