Study on lunar/planetary exploration rovers considering on characteristics of loose soil and its application

Abstract

Lunar planetary rovers have been attracting attention in the world, as a space exploration apparatus. In fact, some rovers have explored on surface of Moon and Mars for the last fifty years. They have acquired very precious data in there. However, they had sometimes became a bad condition while they were traversing the surfaces like moon or Mars. It is so difficult for rovers to traverse loose soil because there are caused by slipping and sinking. The reason why these bad conditions are occurred have made clear in various experiments using a single wheel by our groups. From considerations of experimental results, a few new rovers have been developed by our groups. One of them is the rover that can get the supporting force using “Piles” installed on its body. Other has a function of Push Pull locomotion like an inching worm. Furthermore, in this paper to apply achievement so far, the development of the airless tires (for vehicles acting disaster areas) and the agriculture rover are introduced as devices working in the earth.