1A2-L09 次期小惑星探査ロボットのための繊毛推進機構の移動特性 : 空気浮上装置を用いた模擬微小重力実験(【宇宙工学部門】宇宙工学とロボティクス・メカトロニクス(1))

抄録

Development of a locomotion mechanism under micro-gravity is a key technology for an asteroid exploration robot in future missions. As one of the locomotion mechanisms, we have proposed a ciliary micro-hopping locomotion mechanism. The proposed mechanism is driven by an eccentric motor, and the elastic cilia enable a robot to move over an asteroid surface under micro-gravity. In this paper, we deliver fundamental locomotion characteristics of the ciliary micro-hopping mechanism based on indoor micro-gravity experiments using an air floating test bed.