The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2012
Session ID : 1A2-I10
Conference information
1A2-I10 Development and Evaluation of a Wheel with Verticality-penetration-lug Mechanism(Wheeled Robot/Tracked Vehicle(2))
Ken AKIYAMAKeiji NAGATANIKazuya YOSHIDA
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CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract
Robotic explorations on lunar or planet surfaces have a possibility to discover important science information. However, such surface is typically covered with loose soil, and it is very difficult for mobile robots to traverse in a wide area. To increase traction, a conventional wheel equips lugs. However, it deforms soil when lugs enter/exit the soil, and it causes sinkage of wheels that decreases traversability. Therefore, in this research, we have developed a verticality-penetration-lug mechanism to prevent wheel slippage. In this paper, we introduce the mechanism, and report the result of performance test using these wheels.
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© 2012 The Japan Society of Mechanical Engineers
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