テザーを有する跳躍ロボットの挙動解析

抄録

This paper describes behavior of the jump robot which is connected by tether. The internal environment of the hole existing on the moon is not clear and is expected to be investigated. For research of the unknown environment, exploration is planned using a rover with umbilical tether connecting a mother rover near the hole. Then, it is important to study how tether influences jumping behavior of the rover. Equation of motion and differential algebraic equation is formulated by the use of Absolute Nodal Coordinate Formulation (ANCF) and multibody dynamics. Rover is regarded as two bodies with slider joint. Telescopic motion of spring expresses effect of jump. Numerical analysis reveals the relation of jumping behavior and parameters, and is compared with experimental result.