@inproceedings{oai:jaxa.repo.nii.ac.jp:00007292,
 author = {水上, 憲明 and 吉光, 徹雄 and 久保田, 孝 and Mizukami, Noriaki and Yoshimitsu, Tetsuo and Kubota, Takashi},
 book = {アストロダイナミクスシンポジウム講演後刷り集, The 20th Workshop on JAXA Astrodynamics and Flight Mechanics},
 month = {Mar},
 note = {第20回アストロダイナミクスシンポジウム (2010年7月26-27日. 宇宙航空研究開発機構宇宙科学研究所), 相模原市, 神奈川県, The 20th Workshop on JAXA Astrodynamics and Flight Mechanics 2010 (July 26-27, 2010. Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA)(ISAS)), Sagamihara, Kanagawa Japan, 月面などの軟弱地盤における車輪ダイナミクスモデルの提案を行なっている．提案する車輪ダイナミクスモデルは，車輪と砂の相互作用をモデル化したテラメカニクスに基づくものである．テラメカニクスに基づく従来の車輪モデルは，車輪沈下量が定常状態の車輪モデルであるため車輪の沈下現象を含めたダイナミックシミュレーションにおいて，車輪沈下現象と車輪スリップ現象が正確に扱えない問題がある．本稿では，これらの問題を解決する車輪モデルを提案し，ダイナミックシミュレーションによって提案車輪モデルの有効性の評価を行なった．, Planetary surface is covered by soft soil. Thus wheel slips and gets stuck easily on soft soil. For success of rover mission, it is important to prevent wheel from getting stuck and an increase of wheel slip. This paper presents a wheel dynamics model based on terramechanics theory for preventing wheel from getting stuck and an increase of wheel slip by wheel control. Terramechanics is a study of the interaction between wheel and soil. Terramechanics theory considers a wheel travelling motion in static state of wheel sinkage. There are two problems to formulate wheel dynamics model. One is a wheel sinkage phenomenon, and the other is a wheel slip phenomenon. The authors propose a dynamic normal force model for solving the problem of wheel sinkage phenomenon and propose a shear deformation model for solving the problem of wheel slip phenomenon. Then we verify these proposal models by wheel dynamic simulations., 形態: カラー図版あり, Physical characteristics: Original contains color illustrations, 資料番号: AA0065115045},
 pages = {270--275},
 publisher = {宇宙航空研究開発機構宇宙科学研究所 (JAXA)(ISAS), Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA)(ISAS)},
 title = {Proposal of Terramechanics-based Wheel Dynamics Model on Soft Ground},
 volume = {20},
 year = {2011}
}