Estimation of supporting force for lunar/planetary exploration rovers with function of a push-pull locomotion

Daisuke Fujiwara, Naoki Tsujikawa, Kojiro Iizuka

研究成果: Conference contribution

抄録

This paper proposes a supporting force model of a Push-Pull Locomotion on the rough terrain. Planetary rovers should avoid many obstacles on the planetary surfaces, for instance, rocks, stones, and rough terrain. When planetary rovers become stuck, this typed rover can move by using a large supporting force of the wheel, which is generated by keeping a position of a supporting wheels relative to the ground and move to another position. Recently, planetary rovers need to be controlled autonomously, therefore, the interaction mechanics between supporting wheels and soil need to be investigated. The drawbar pull force of the rotational wheel model has been investigated in the terramechanics field, however, in the Push-Pull Locomotion, the supporting wheels are locked during bulldozing soil. Therefore, the conventional model cannot apply to the supporting wheels. As the initial step, this paper constructs the supporting force model of the locked wheels without considering normal force of a wheel by using the Coulomb and GLEM (Generalized Limit Equilibrium Method) theory. The validity of these models is confirmed by a single wheel bulldozing tests. The experimental results revealed that the proposed model based on the GLEM theory can predict the supporting force of the wheel without a normal force in each wheel size and sinkage.

本文言語English
ホスト出版物のタイトルProceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ990-995
ページ数6
ISBN(電子版)9781728124933
DOI
出版ステータスPublished - 2019 7
イベント2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019 - Hong Kong, China
継続期間: 2019 7 82019 7 12

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
2019-July

Conference

Conference2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
CountryChina
CityHong Kong
Period19/7/819/7/12

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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