Investigation of Bulldozing Force and Compaction Effect When Running for Small Light Planetary Exploration Wheel Typed Rovers with Vibration

Tomohiro Watanabe, Kohei Miyamoto, Kojiro Iizuka

研究成果: Conference contribution

抄録

Exploration rovers made many discoveries in exploration missions of the Moon. In recent years, the small right rovers with wheels are focused on as planetary exploration rovers. The surface of the Moon is covered with the loose soils. On this ground, the wheel typed rovers slip and cannot move forward. Therefore, it is necessary to improve the running performance of the rovers. In this study, bulldozing force and the compaction effect are investigated for improving the running performance of planetary exploration wheel typed rovers with vibration. Normal force, sinkage of the testbed to the ground, and bulldozing force are measured when the wheel typed testbed runs while imparting vibration to the ground. As the experimental result, normal force and sinkage of the testbed are not changed by imparting vibration. Moreover, it is confirmed that the running performance of the testbed is improved when bulldozing force is reduced by imparting vibration to the ground. Therefore, decreasing the bulldozing force is effective for improving running performance of wheel typed rovers with vibration. The findings of this study suggest facilitating further planetary exploration using the rovers with wheels.

本文言語English
ホスト出版物のタイトル2022 7th International Conference on Control and Robotics Engineering, ICCRE 2022
出版社Institute of Electrical and Electronics Engineers Inc.
ページ83-88
ページ数6
ISBN(電子版)9781665468404
DOI
出版ステータスPublished - 2022
イベント7th International Conference on Control and Robotics Engineering, ICCRE 2022 - Beijing, China
継続期間: 2022 4月 152022 4月 17

出版物シリーズ

名前2022 7th International Conference on Control and Robotics Engineering, ICCRE 2022

Conference

Conference7th International Conference on Control and Robotics Engineering, ICCRE 2022
国/地域China
CityBeijing
Period22/4/1522/4/17

ASJC Scopus subject areas

  • 人工知能
  • 制御およびシステム工学
  • 機械工学
  • 制御と最適化

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