Study on traveling performance for robots equipped with wheel-base length variable mechanism to traveling loose soil with slope

Daisuke Fujiwara, Kojiro Iizuka

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

Abstract

These days, robots have been playing a significant role in NASA and JAXA exploration. These explorations provide great scientific return. On mars and lunar surface, there are a lot of loose soil and many steep slopes are found along their crater rims. In such the surface, because of wheels of robot are easy to sink and slip, the wheels of robot can not move forward or backward direction. Therefore, the robots become stuck and do not continue mission. However, in this situation, the wheels of robot can get the bearing force from loose soil. This paper focuses on this bearing force and proposes locomotion method. This study proposes a wheel base length variable mechanism hereinafter known as WB mechanism. WB mechanism uses the bearing force form loose soil. This paper, the first, explains the development of the robot equipped with WB mechanism. Secondly, the experiments of traveling performance are carried out on loose soil. Finally, the traveling performance of each of wheel diameter were discussed. As the results of experiments, the robot equipped with WB mechanism showed high traveling performance. Moreover, we could suggest that the traveling performance can be changed by the wheel diameter.

Original languageEnglish
Title of host publication19th International and 14th European-African Regional Conference of the ISTVS
PublisherInternational Society for Terrain Vehicle Systems
ISBN (Electronic)9781942112495
Publication statusPublished - 2017 Jan 1
Event19th International and 14th European-African Regional Conference of the International Society for Terrain-Vehicle, ISTVS 2017 - Budapest, Hungary
Duration: 2017 Sep 252017 Sep 27

Other

Other19th International and 14th European-African Regional Conference of the International Society for Terrain-Vehicle, ISTVS 2017
CountryHungary
CityBudapest
Period17/9/2517/9/27

Fingerprint

Wheels
Robots
Bearings (structural)
Soils
NASA
Experiments

Keywords

  • Loose soil
  • Planetary robot
  • Wheel base variable mechanism

ASJC Scopus subject areas

  • Automotive Engineering

Cite this

Fujiwara, D., & Iizuka, K. (2017). Study on traveling performance for robots equipped with wheel-base length variable mechanism to traveling loose soil with slope. In 19th International and 14th European-African Regional Conference of the ISTVS International Society for Terrain Vehicle Systems.

Study on traveling performance for robots equipped with wheel-base length variable mechanism to traveling loose soil with slope. / Fujiwara, Daisuke; Iizuka, Kojiro.

19th International and 14th European-African Regional Conference of the ISTVS. International Society for Terrain Vehicle Systems, 2017.

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

Fujiwara, D & Iizuka, K 2017, Study on traveling performance for robots equipped with wheel-base length variable mechanism to traveling loose soil with slope. in 19th International and 14th European-African Regional Conference of the ISTVS. International Society for Terrain Vehicle Systems, 19th International and 14th European-African Regional Conference of the International Society for Terrain-Vehicle, ISTVS 2017, Budapest, Hungary, 17/9/25.
Fujiwara D, Iizuka K. Study on traveling performance for robots equipped with wheel-base length variable mechanism to traveling loose soil with slope. In 19th International and 14th European-African Regional Conference of the ISTVS. International Society for Terrain Vehicle Systems. 2017
Fujiwara, Daisuke ; Iizuka, Kojiro. / Study on traveling performance for robots equipped with wheel-base length variable mechanism to traveling loose soil with slope. 19th International and 14th European-African Regional Conference of the ISTVS. International Society for Terrain Vehicle Systems, 2017.
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