月面脚型ローバによる歩行性能向上のためのDEMを用いた振動による軟弱地盤上での支持力増加現象のシミュレーション

抄録

The surfaces of Mars and the Moon are covered by loose soil. Therefore, the legged rovers slip largely on these grounds in planetary exploration. We proposed a walking method for preventing legged rovers from slipping. In the proposed method, the supporting force that the leg of the rover is received is increased by imparting vibration to the ground. To improve the running performance of legged rover, the supporting force must be estimated to select a suitable vibra-tion that can efficiently increase the bearing capacity. In this study, we simulated the bearing capacity when imparting vibration to the ground by the discrete element method (DEM). The simulated result was similar to the actual change in the bearing capacity when imparting vibration qualitatively. This relationship offers valuable information for under-standing the mechanism whereby the bearing capacity is increased by imparting vibrations.