Design scheme on Wheeled Forms of Exploration Rover
in consideration of Mechanism between Wheels and Soil
Kojiro Iizuka?, Yoji Kuroda ??, Yasuharu Kunii? and Takashi Kubota???
? Chuo University, ?? Meiji University, ??? JAXA/ISAS
Abstract
In future lunar exploration missions, lunar rovers are required to traverse over very rough terrain. On
the lunar surface, there are covered with soils, which are named regolith. Regolith is easy to slide. Any
stack is easy to occur to the rovers, which are running on the regolith. The rovers need the effective running
systems that are not stack on regolith. This paper focuses on the running systems of the rovers, which are
touching directly to the surface of regolith. There are some running systems for lunar rovers, like a vehicle
with the circular typed wheel, the low stress wheel and the crawler type etc. The each running systems
have each characteristics for traversing on soften soil(like Regolith). Therefore, this paper investigates
the important elements, and proposes the development schemes for a effective running system using their
important elements.
車輪と砂の相互関係を考慮した探査ローバ用車輪の設計指針
飯塚浩二郎?, 黒田洋司??, 國井康晴?, 久保田孝???
? 中央大学, ?? 明治大学, ???JAXA/ISAS
摘要
月表面において, クレータや崖などは地殻が露出していると考えられるため科学的関心が高く, 将来のロー
バミッションではこのような険しい地形の移動探査が要求されている. しかし, 月表面にはレゴリスが多く堆
積しているため, ローバには高い走行性能を必要とする環境といえる. そこで本研究では高い走行性能の構築
を目的とし, 車輪とレゴリス間で起きるメカニズムを考慮した走行システムの検討を行う. そして, 実験的検討
から月面探査における有効となる車輪の設計指針を整理する.