Analysis of the traveling performance of planetary rovers with wheels equipped with lugs over loose soil

M. Sutoh, K. Nagatani, K. Yoshida

研究成果: Conference contribution

抄録

The surfaces of the Moon and Mars are covered with loose soil. In such conditions, planetary rovers can get stuck and even cause failure of an exploration mission. To avoid such problems, the wheels of planetary rovers typically have lugs (i.e., grousers) on their surface, which substantially improve their traveling performance. However, there exists no theoretical method to determine a suitable lug interval. In this study, we first modeled the linear traveling speed of a wheel with lugs and provided guidelines for determining a suitable lug interval, as well as the corresponding terramechanical stress models. Next, to verify the suitable interval for lugs, we performed traveling tests using a two-wheeled rover with wheels having different numbers of lugs of different heights. According to the experimental results, when a wheel has three lugs in a range where normal stress is generated beneath it, it can travel with constant speed while the traveling performance is substantially improved.

本文言語English
ホスト出版物のタイトルEarth and Space 2012 - Proceedings of the 13th ASCE Aerospace Division Conference and the 5th NASA/ASCE Workshop on Granular Materials in Space Exploration
出版社American Society of Civil Engineers (ASCE)
ページ1-10
ページ数10
ISBN(印刷版)9780784412190
DOI
出版ステータスPublished - 2012
イベント13th Biennial ASCE Aerospace Division International Conference on Engineering, Science, Construction, and Operations in Challenging Environments, Earth and Space 2012 and the 5th NASA/ASCE Workshop on Granular Materials in Space Exploration - Pasadena, CA, United States
継続期間: 2012 4月 152012 4月 18

出版物シリーズ

名前Earth and Space 2012 - Proceedings of the 13th ASCE Aerospace Division Conference and the 5th NASA/ASCE Workshop on Granular Materials in Space Exploration

Other

Other13th Biennial ASCE Aerospace Division International Conference on Engineering, Science, Construction, and Operations in Challenging Environments, Earth and Space 2012 and the 5th NASA/ASCE Workshop on Granular Materials in Space Exploration
国/地域United States
CityPasadena, CA
Period12/4/1512/4/18

ASJC Scopus subject areas

  • 土木構造工学
  • 環境工学
  • 建築および建設

フィンガープリント

「Analysis of the traveling performance of planetary rovers with wheels equipped with lugs over loose soil」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