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Locomotion mechanics of wheeled rovers on simulated lunar soil
https://jaxa.repo.nii.ac.jp/records/7461
https://jaxa.repo.nii.ac.jp/records/7461c4685364-46a9-41de-a762-492dd6d18cc3
Item type | 会議発表論文 / Conference Paper(1) | |||||
---|---|---|---|---|---|---|
公開日 | 2015-03-26 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Locomotion mechanics of wheeled rovers on simulated lunar soil | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 月面移動車両 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 車両用車輪 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 応力分布 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | ロービング車両 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 月面 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 軌跡 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | スリップ比 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | スリップ角 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 牽引力 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 横力 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 鉛直力 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | ステアリング | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 牽引 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 数学モデル | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 実験 | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | lunar roving vehicle | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | vehicle wheel | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | stress distribution | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | roving vehicle | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | lunar surface | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | trajectory | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | slip ratio | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | slip angle | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | drawbar pull | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | side force | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | vertical force | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | steering | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | traction | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | mathematical model | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | experimentation | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
資源タイプ | conference paper | |||||
アクセス権 | ||||||
アクセス権 | metadata only access | |||||
アクセス権URI | http://purl.org/coar/access_right/c_14cb | |||||
その他のタイトル | ||||||
その他のタイトル | 車輪型ローバーの模擬月面土壌における走行特性の研究 | |||||
著者 |
石上, 玄也
× 石上, 玄也× 永谷, 圭司× 吉田, 和哉× Ishigami, Genya× Nagatani, Keiji× Yoshida, Kazuya |
|||||
著者所属 | ||||||
東北大学 大学院工学研究科 | ||||||
著者所属 | ||||||
東北大学 大学院工学研究科 | ||||||
著者所属 | ||||||
東北大学 大学院工学研究科 | ||||||
著者所属(英) | ||||||
en | ||||||
Tohoku University Graduate School of Engineering | ||||||
著者所属(英) | ||||||
en | ||||||
Tohoku University Graduate School of Engineering | ||||||
著者所属(英) | ||||||
en | ||||||
Tohoku University Graduate School of Engineering | ||||||
出版者 | ||||||
出版者 | 宇宙航空研究開発機構宇宙科学研究本部 | |||||
出版者(英) | ||||||
出版者 | Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA/ISAS) | |||||
書誌情報 |
第17回アストロダイナミクスシンポジウム講演後刷り集 2007 en : Proceedings of 17th Workshop on JAXA Astrodynamics and Flight Mechanics p. 146-151, 発行日 2008-03 |
|||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | 筆者らの研究グループでは、模擬月面土壌(レゴリスシミュラント)を用いて、車輪型ローバーの走行特性の研究をおこなっている。様々なスリップ状態における車輪の縦方向および横方向の駆動力を評価するモデルを構築し、車輪走行試験装置を用いて車輪モデルの定量的評価をおこなってきた。また、4車輪ローバーモデルを開発し、ローバーのステアリング特性や斜面横断時の走行特性を明らかにするとともに、数値シミュレーションモデルとの比較をおこなってきた。本稿では、これまでの研究成果の概要を報告する。 | |||||
抄録(英) | ||||||
内容記述タイプ | Other | |||||
内容記述 | In this paper, locomotion mechanics for a lunar exploration rover are addressed. The authors have developed mathematical models to evaluate the longitudinal and lateral traction forces of a wheel for various slip conditions, and the model has been quantitatively verified using a single wheel test bed. The wheel model for locomotion mechanics has been incorporated into an articulated multibody model of the entire rover in order to describe the motion dynamics of the rover. The experiments using a four-wheel rover for horizontal steering and slope traversing have been carried out. The proposed model for an analysis of locomotion mechanics of the rover is verified through comparison between the experimental result and simulation result using the proposed model. | |||||
資料番号 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 資料番号: AA0063718024 |