RFT に基づくグローサ付きホイールの走行解析

抄録

In planetary unmanned exploration, it is important to understand the traveling performane of the rover in advance since it is difficult to rescue the rover, which once got to stuck. In addition, a realization of real-time simulation is idealized under extreme environments because there is little preliminary terramechanics information. In this study, we adopted Resistive Force Theory (RFT) as an analysis method aiming at real-time simulation. RFT is the theory developed from a conventional semi-empirical method that can be conducted at relatively low cost, and prompt analysis is expected. Therefore, the purpose of this study is to conduct RFT analyses of the wheel with grousers and discuss the validity of RFT by comparing their results with the results obtained by DEM analysis.