J192024 Study on Traversability of Mobile Wheels for Lunar and Planetary Exploration Mobile Rovers
J192024 月惑星探査モバイルローバに有効な小型車輪の検討([J19202]ロボティクスと宇宙(2))

Kojiro Iizuka, Tatsuya Sasaki, Takeshi Kubota, Atsuro Nishitani, Ichiro Nakatani
2011 The Proceedings of Mechanical Engineering Congress Japan  
Lunar and planetary explora 廿ons have been increasingly planned across the world where mobility on the planetary / lunar surface is needed . In this paper we propose a new type of very small rover −typically with the weight of less 血 an 2kg. Several new ideas are proposed : simplified locornotion mechanism wi 血 elastic wheels , extremely small fish − eye camera system ,1ight − weight extension system using shape − memory alloy and tiny observation probe f6r investigating a hole connected to a
more » ... nar lava tube . ln this paper, we focus on small typed wheels , especially the running performance of elastic wheels . As first step to develop lunar mob 皿e rovers with high perf { ) mlance , we caπ ied ouUhe experiments ( to measure deflection and travesab 証 y loose soil and steppability of prqposed elastic wheels ) , From these results, we confirrned the effect ef the elastic wheels .
doi:10.1299/jsmemecj.2011._j192024-1 fatcat:janv2tm6bffarguye47j5j2kxa