Reaction force/torque sensing wheel system for in-situ monitoring on loose soil

Shoya Higa, Kenji Nagaoka, Kazuya Yoshida

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

1 Citation (Scopus)

Abstract

Lunar/planetary exploration rovers are required to travel on loose soil. In such environments, wheel sinkage and slippage easily occur and adversely affect the mobility performance of the rovers. Therefore, we need to consider the wheel-soil interaction for appropriate mobility control. However, soil characteristics of the target environment of rovers are unknown and heterogeneous. Thus, unexpected wheel sinkage and slippage occur with rovers. It is expected that such phenomena can be avoided by appropriately estimating wheel conditions. Therefore, we proposed a sensing wheel system that estimates wheel sinkage/slippage and soil reaction force/torque. Previous work focused on an online estimation method of wheel sinkage/slippage using a time-of-flight (ToF) camera; through this method, online estimates of wheel sinkage/slippage could be made. In this study, we expand the previous system in order to develop a real-time sensing function of soil reaction force/torque. The proposed system can measure the reaction forces/torques by fixing a 6-axis force/torque (F/T) sensor onto the wheel axis. Traction tests were performed under several wheel configurations and traction load conditions to validate the projected wheel forces/torques. Experimental results showed that the sensing wheel precisely measured the drawbar pull, normal force, and wheel torque in real time.

Original languageEnglish
Title of host publication19th International and 14th European-African Regional Conference of the ISTVS
EditorsPeter Kiss, Laszlo Mathe
PublisherInternational Society for Terrain-Vehicle Systems
ISBN (Electronic)9781942112495
Publication statusPublished - 2017
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

Publication series

Name19th International and 14th European-African Regional Conference of the ISTVS

Other

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

Keywords

  • Lunar/planetary rover
  • Reaction force/torque
  • Sensing wheel system

ASJC Scopus subject areas

  • Automotive Engineering

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