Discussion on validity of lugged wheel model and evaluation method

Noriaki Mizukami, Kojiro Iizuka, Yasuharu Kunii

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

Soft soil covers planetary surfaces, so the wheel of a planetary rover easily slips and gets stuck. In order to prevent increase in the slip and getting stuck, the wheel can have lugs that have a shape of a paddle to improve the wheel force. There have been some studies about the influence of the lugs. However, design method of an effective lug has not been studied well yet. Since terramechanics-based wheel models have been considered with a flat wheel surface, those models based on terramechanics are not applicable to the lugged wheel. In this research, in order to establish the design method of the effective lugs, a lugged wheel model was discussed and proposed regarding the variation of the shear characteristics. The variation of shear characteristics is indicated by a shear deformation modulus. The lugged wheel model is based on the shear deformation modulus varied by the lug design. In this paper, the simulation was performed to verify the validity of the lugged wheel model, and it was confirmed that the model could formulate the performance of the wheel traversability. Moreover, the wheel experimental device was described to understand the traversability of the lugged wheel. The evaluation method of the proposed lugged shear deformation model was also considered.

本文言語English
ホスト出版物のタイトル2014 IEEE/SICE International Symposium on System Integration, SII 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ597-602
ページ数6
ISBN(電子版)9781479969449
DOI
出版ステータスPublished - 2014 1 30
外部発表はい
イベント7th IEEE/SICE International Symposium on System Integration, SII 2014 - Tokyo, Japan
継続期間: 2014 12 132014 12 15

Other

Other7th IEEE/SICE International Symposium on System Integration, SII 2014
CountryJapan
CityTokyo
Period14/12/1314/12/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Networks and Communications
  • Information Systems

フィンガープリント 「Discussion on validity of lugged wheel model and evaluation method」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル