Measurement method for two-dimensional normal stress distribution of wheels on lateral loose soil slopes

Shoya Higa, Kenji Nagaoka, Keiji Nagatani, Kazuya Yoshida

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

Surfaces of exploration targets for lunar/planetary robots (rovers), such as the Moon and Mars, are covered with fine sand. This sand makes the wheels of a rover susceptible to slip, and in the worst case, can lead to immobility. To avoid such situations, it is important to analyze the mechanics of the interaction between the soil and wheel. Hence, various devices to measure the normal stress distribution beneath wheels have been proposed. However, most of the conventional equipment is only able to measure the distribution in a flat soil environment. In practice, when a rover traverses sandy slopes, the normal stress distribution is not expected to have a simple shape like that for a flat environment. Therefore, we propose a measurement device for the two-dimensional normal stress distribution of a wheel on a lateral loose soil slope. Some experimental results prove the validity of the method.

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603-608
ページ数6
ISBN(電子版)9781479969449
DOI
出版ステータスPublished - 2014 1 30
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

出版物シリーズ

名前2014 IEEE/SICE International Symposium on System Integration, SII 2014

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ ネットワークおよび通信
  • 情報システム

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