軟弱地盤における振動伝播を用いた車輪機構の走行性能に関する調査

抄録

Exploration rovers made many discoveries in exploration missions of the Moon. However, the surface of the Moon is a rough terrain. Therefore, it is necessary to improve the driving performance of the rovers. In the previous study, the running performance was improved when the rover climbed the slope while vibrating the front wheels. Two factors for improving driving performance were considered. It is the soil compaction and the bulldozing effect. The purpose of this study is to clarify the mechanism by which the running performance is improved by vibration. The normal stress sinkage and bulldozing force were measured in this study. As a result, normal stress and the sinkage was not changed by giving vibration. However, it was confirmed that the bulldozing force reduced by giving vibration. Moreover, the driving movement of rover was increased. Therefore, it was confirmed that the driving performance is improved by the bulldozing effect.