2014 Fiscal Year Final Research Report
Experimental Approach for Comprehensive Wheel-Soil Interaction Mechanics and Statistical Design Method for Mobility System of Planetary Exploration Robot
| Project/Area Number |
24760222
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Keio University (2013-2014)
Japan Aerospace Exploration Agency (2012) |
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Principal Investigator |
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| Project Period (FY) |
2012-04-01 – 2015-03-31
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| Keywords | テラメカニクス / 最適化設計 / 車輪実装型センサシステム / 粒子画像流速計測法 / 確率的アプローチ |
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| Outline of Final Research Achievements |
In this research project, a comprehensive wheel test apparatus that employs an in-wheel sensor system and a particle image velocimetry technique has been developed. The test bed achieves a precise observation of wheel-soil interaction mechanics including wheel pressure, wheel sinkage, soil flow, and wheel dynamic behavior, which were not well clarified by classical experimental approaches. This research also proposed a method that provides the most feasible wheel size for off-road traction. The method finds a wheel radius and width that maximizes wheel traction performance, with less computational cost. These outcomes were presented in more than twenty five papers/books (incl. domestic conference) and in an invited talk at an international conference.
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| Free Research Field |
移動ロボット テラメカニクス
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