トレッドミル単輪走行試験機の開発と走行時に生じるひずみ解析

抄録

Many planetary explorations have been conducted by rovers to investigate resources and the origin of life. However, the problem is that the wheels slip due to the soft ground that covers a large area of the planet. The method is proposed to utilize the distortion generated in the chassis section of the rover as a means of slip suppression. In this study, a new testing machine was developed and evaluated in order to obtain strain values under various slip conditions. The change in strain was also observed when the slip condition was varied. Comparison of single-wheel running tests confirmed the difference in the frequency range in which the strain spectrum appears and its variation with slip rate. The results of this FFT analysis show that slip estimation can be performed.