抄録
Since soft soils cover on planetary surfaces, the wheel easily slips and gets stuck. In order to prevent an increase of a slip and a stuck, a surface of the wheel has lugs that are ridges to improve the wheel traction. There have been some studies about the influence of the lug. However, a design method of an effective lug has never studied well yet. Terramechanics-based wheel models are not applicable to a lugged wheel because those models consider a wheel with a flat surface. Purpose of this research is to model the design method of the effective lugs. In order to model the design method, the lugged wheel model was proposed based on terramechanics. In this paper, a single wheel experiment was performed to verify the traversability of the lugged wheel. And the validity of the proposed lugged wheel model was discussed considering the results of the experiments.
