Verification of Relationship between Bending Strain in Chassis of Lunar/Planetary Rover and Slipping State

Abstract

Landing and moving for investigation on the lunar surface by rovers is an effective method. However, there is a possibility of a rover skidding causes it to deviate from its intended course. Therefore, it is necessary to obtain the driving state in real time. We focus on the strain generated in the rover's chassis. It is expected that the strain has a correlate closely with the driving state. The purpose of this study is to try estimating the slipping state of the rover in real time by analyzing the strain value measured with strain gauges mounted on the chassis. The measured data verified that the FFT analysis of the strain was different due to the slipping state of the wheel.