Study on wheeled forms of lunar robots considering elactic characteristic for traversing soft terrain (effect of elastic wheel considering in interaction between wheel and soft soil)

Kojiro Iizuka, Yasuharu Kunii, Takashi Kubota

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)

Abstract

Lunar rovers are required to move on rough terrains such as in craters and rear cliffs where it is scientifically very important to explore. In the past, 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. The important parameters are extracted by considering the mechanism. This paper proposes an elastic wheel by considering the important parameters. The elastic wheel has the surface which can be changed flexibly toward rough terrain. Running Experiments on soil which imitated Regolith are carried out to observe the traversability of the elastic wheel using slip ratio and sinkage.

Original languageEnglish
Pages (from-to)2962-2967
Number of pages6
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume74
Issue number12
DOIs
Publication statusPublished - 2008 Dec
Externally publishedYes

Keywords

  • Elastic
  • Lunar rovers
  • Shearing strength
  • Soil
  • Stress distribution
  • Wheel

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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