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Research on leg mechanism for rovers with high traverse ability and energy efficiency
https://jaxa.repo.nii.ac.jp/records/7674
https://jaxa.repo.nii.ac.jp/records/7674e56e96c1-59fb-4515-92fa-c1767512f2f4
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 | Research on leg mechanism for rovers with high traverse ability and energy efficiency | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 脚機構 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | エネルギー効率 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 横方向能力 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 上下振動 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | ローバ | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 回転軸 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 模型 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 数値シミュレーション | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | leg mechanism | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | energy efficiency | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | transverse ability | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | vertical oscillation | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | rover | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | rotation axle | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | model | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | numerical simulation | |||||
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 | 高い踏破性とエネルギ効率を有するローバの脚機構に関する研究 | |||||
著者 |
泉田, 啓
× 泉田, 啓× 高堂, 順平× 木村, 昌宏× Senda, Kei× Takado, Junpei× Kimura, Masahiro |
|||||
著者所属 | ||||||
金沢大学 大学院自然科学研究科 | ||||||
著者所属 | ||||||
金沢大学 大学院自然科学研究科 | ||||||
著者所属 | ||||||
金沢大学 大学院自然科学研究科 | ||||||
著者所属(英) | ||||||
en | ||||||
Kanazawa University Graduate School of Natural Science and Technology | ||||||
著者所属(英) | ||||||
en | ||||||
Kanazawa University Graduate School of Natural Science and Technology | ||||||
著者所属(英) | ||||||
en | ||||||
Kanazawa University Graduate School of Natural Science and Technology | ||||||
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 |
平成16年度アストロダイナミクスシンポジウム:講演後刷り集 en : ISAS proceedings of 14th Workshop on Astrodynamics and Flight Mechanics 2004: A Collection of Technical Papers p. 233-240, 発行日 2005-03 |
|||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | 本研究では、従来の脚型の問題を解決し、その長所を生かすことで、車輪型以上の性能を有する脚型ローバを考案する。考案した脚機構は1回転軸で駆動され、ボディの上下振動を生じないという特徴を有する。そのため、ボディに上下振動を生じる他の脚機構よりもエネルギー効率に優れている。開発した脚機構をラジコンカーに実装した実験および数値シミュレータを構築した。段差踏破性能および移動エネルギー効率に着目して、実験装置と数値シミュレーションにより評価した結果、開発した脚機構の有用性が明らかになる。 | |||||
抄録(英) | ||||||
内容記述タイプ | Other | |||||
内容記述 | This research develops a leg for rover that has higher performance than wheels by using advantages of leg and solving problems of existing legs. The designed leg is a simple mechanism driven by a rotation axle and does not make vertical oscillation of the body. Therefore, this mechanism is excellent in terms of energy efficiency compared with other leg mechanisms that generate vertical oscillation of the body. Experimental models with the developed leg mechanisms are constructed by using a radio control car. Utility of the developed leg mechanism is manifested by evaluation of traverse ability and energy efficiency using the experimental models and the numerical simulations. | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 0918-8053 | |||||
資料番号 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 資料番号: AA0047897041 |