{"created":"2023-06-20T14:40:47.581622+00:00","id":7733,"links":{},"metadata":{"_buckets":{"deposit":"c96b6c1e-bc04-4964-b8ce-fc8940ec12c2"},"_deposit":{"created_by":1,"id":"7733","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7733"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007733","sets":["1543:1544:1560","1887:1891"]},"author_link":["41558","41559","41553","41556","41557","41554","41555","41560"],"item_5_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"テラメカニクスに基づくローバーの走行力学:斜面登攀時の力学解析"}]},"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2004-02","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"203","bibliographicPageStart":"198","bibliographic_titles":[{"bibliographic_title":"平成15年度アストロダイナミクスシンポジウム:講演後刷り集"},{"bibliographic_title":"ISAS Proceedings of 13th Workshop on Astrodynamics and Flight Mechanics 2003: A Collection of Technical Papers","bibliographic_titleLang":"en"}]}]},"item_5_description_16":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"テラメカニクスに基づくローバーの走行力学について考察する。月面上では、表面を覆うレゴリスに車輪が埋まってしまったりまた空転するなどして、ローバーが推進力を失う可能性が高い。ローバーの走行力学を明らかにするため、車輪と流動的な地面との間のテラメカニクスをを定式化し、車輪が推進力を得るメカニズムを明らかにする。まず、車輪1輪を用いたテストベッドによって諸パラメータを同定する。次いで、4輪型のローバーを傾斜地で走行させる実験を行い、特に登攀限界について考察を行う。","subitem_description_type":"Abstract"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"This paper presents analysis of traction mechanics and control of a lunar/planetary rover based on the models obtained from terramechanics. A case study has been conducted for a rover test bed to negotiate a slope of loose soil such as regolith that covers most of lunar surface. The tire traction force is modeled as a function of the vertical load and slip ratio of the wheel. Bekker's terramechanic formulae are employed to derive an improved practical model that calculates net traction force, referred to as Drawbar Pull, with a reasonable precision. Experiments are carried out in two phases. First, the physical behavior of a wheel on loose soil is observed using a single-wheel test bed, then the empirical parameters of the tire and soil are identified. Second, the slope climbing capability is studied by using a rover test bed that has independently driven four wheels. The traction margin and slip margin are defined to be used in a traction control. In the slope experiment, it turned out that the climbing capability was saturated at 14 degrees due to the lack of enough driving torque in wheels. But theoretical investigation suggests that this is not the limitation of terrain trafficability and climbing capability can be improved by increased driving torque and proper load distribution.","subitem_description_type":"Other"}]},"item_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0046652032","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_source_id_21":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"0918-8053","subitem_source_identifier_type":"ISSN"}]},"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"},{"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"},{"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":"吉田, 和哉"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"渡辺, 敏暢"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"水野, 昇幸"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"石上, 玄也"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Yoshida, Kazuya","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Watanabe, Toshinobu","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Mizuno, Noriyuki","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Ishigami, Genya","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"月表面","subitem_subject_scheme":"Other"},{"subitem_subject":"月ローバー","subitem_subject_scheme":"Other"},{"subitem_subject":"表層土","subitem_subject_scheme":"Other"},{"subitem_subject":"モデル","subitem_subject_scheme":"Other"},{"subitem_subject":"応力分布","subitem_subject_scheme":"Other"},{"subitem_subject":"登攀能力","subitem_subject_scheme":"Other"},{"subitem_subject":"テラメカニックス","subitem_subject_scheme":"Other"},{"subitem_subject":"ホイール","subitem_subject_scheme":"Other"},{"subitem_subject":"lunar surface","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"lunar rover","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"regolith","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"model","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"stress distribution","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"climbing capability","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"terramechanics","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"wheel","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":"Terramechanics based analysis on traction mechanics of an exploration rover: Evaluation of climbing capability on lunar regolith simulant","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Terramechanics based analysis on traction mechanics of an exploration rover: Evaluation of climbing capability on lunar regolith simulant","subitem_title_language":"en"}]},"item_type_id":"5","owner":"1","path":["1560","1891"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"7733","relation_version_is_last":true,"title":["Terramechanics based analysis on traction mechanics of an exploration rover: Evaluation of climbing capability on lunar regolith simulant"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:34:53.947156+00:00"}