{"created":"2023-06-20T14:40:33.333831+00:00","id":7461,"links":{},"metadata":{"_buckets":{"deposit":"bb97a25f-f12b-48af-8937-5529b9cedcbe"},"_deposit":{"created_by":1,"id":"7461","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7461"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007461","sets":["1543:1544:1556","1887:1891"]},"author_link":["39739","39738","39742","39737","39741","39740"],"item_5_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"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"}]},"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2008-03","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"151","bibliographicPageStart":"146","bibliographic_titles":[{"bibliographic_title":"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"},{"bibliographic_title":"Proceedings of 17th Workshop on JAXA Astrodynamics and Flight Mechanics","bibliographic_titleLang":"en"}]}]},"item_5_description_16":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"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。","subitem_description_type":"Abstract"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"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.","subitem_description_type":"Other"}]},"item_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0063718024","subitem_description_type":"Other"}]},"item_5_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"宇宙航空研究開発機構宇宙科学研究本部"}]},"item_5_publisher_9":{"attribute_name":"出版者（英）","attribute_value_mlt":[{"subitem_publisher":"Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA/ISAS)"}]},"item_5_text_6":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"東北大学 大学院工学研究科"},{"subitem_text_value":"東北大学 大学院工学研究科"},{"subitem_text_value":"東北大学 大学院工学研究科"}]},"item_5_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Tohoku University Graduate School of Engineering"},{"subitem_text_language":"en","subitem_text_value":"Tohoku University Graduate School of Engineering"},{"subitem_text_language":"en","subitem_text_value":"Tohoku University Graduate School of Engineering"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"metadata only access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_14cb"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"石上, 玄也"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"永谷, 圭司"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"吉田, 和哉"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Ishigami, Genya","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Nagatani, Keiji","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Yoshida, Kazuya","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"月面移動車両","subitem_subject_scheme":"Other"},{"subitem_subject":"車両用車輪","subitem_subject_scheme":"Other"},{"subitem_subject":"応力分布","subitem_subject_scheme":"Other"},{"subitem_subject":"ロービング車両","subitem_subject_scheme":"Other"},{"subitem_subject":"月面","subitem_subject_scheme":"Other"},{"subitem_subject":"軌跡","subitem_subject_scheme":"Other"},{"subitem_subject":"スリップ比","subitem_subject_scheme":"Other"},{"subitem_subject":"スリップ角","subitem_subject_scheme":"Other"},{"subitem_subject":"牽引力","subitem_subject_scheme":"Other"},{"subitem_subject":"横力","subitem_subject_scheme":"Other"},{"subitem_subject":"鉛直力","subitem_subject_scheme":"Other"},{"subitem_subject":"ステアリング","subitem_subject_scheme":"Other"},{"subitem_subject":"牽引","subitem_subject_scheme":"Other"},{"subitem_subject":"数学モデル","subitem_subject_scheme":"Other"},{"subitem_subject":"実験","subitem_subject_scheme":"Other"},{"subitem_subject":"lunar roving vehicle","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"vehicle wheel","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"stress distribution","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"roving vehicle","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"lunar surface","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"trajectory","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"slip ratio","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"slip angle","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"drawbar pull","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"side force","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"vertical force","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"steering","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"traction","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"mathematical model","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"experimentation","subitem_subject_language":"en","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"conference paper","resourceuri":"http://purl.org/coar/resource_type/c_5794"}]},"item_title":"Locomotion mechanics of wheeled rovers on simulated lunar soil","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Locomotion mechanics of wheeled rovers on simulated lunar soil","subitem_title_language":"en"}]},"item_type_id":"5","owner":"1","path":["1556","1891"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"7461","relation_version_is_last":true,"title":["Locomotion mechanics of wheeled rovers on simulated lunar soil"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:39:10.958090+00:00"}