Proposal of walking to reduce slipping behavior using compaction effect of loose soil caused by a propagation of vibration for small light lunar planetary exploration rovers with legs
Proposal of walking to reduce slipping behavior using compaction effect of loose soil caused by a propagation of vibration for small light lunar planetary exploration rovers with legs
复制标题
利用振动传播引起的松散土壤压实效应步行减少带腿小型月球行星探测车滑倒行为的建议
DOI：
10.1299/transjsme.19-00263
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
T. Kubota
中科院分区：
文献类型：
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作者：
T. Kubota
我们研究的目的是利用振动传播引起的效应来提高小腿型漫游车的运动性能。当松散的地面受到振动时，会产生两种效果。一是增加松散地面的密度，二是增加腿的下沉量。如果通过振动/停止来增加地面的密度，漫游车就不容易打滑。这意味着由于松散的地面受到振动/停止的影响，剪切强度变大。而且，当腿的下沉量增加时，支撑力也变大。通过进行抗剪强度、下沉量和土压力的测量等实验，证实了振动前后地面的差异。结果表明，振动后支腿的抗剪强度和下沉量值均有所增加。此外，振动后土压力值也增加。此外，通过多足漫游车证实了振动/停止所产生的这些影响。实验结果表明，有振动的漫游车的行走距离比没有振动的漫游车的行走距离更长。从这些实验结果可以看出，使用振动/停止的方法对于腿式流动站非常有效。
Purpose of our research is to improve the movement performance of small leg typed rovers using effects caused by vibration propagation. When the loose ground is given vibration, there are two effects. One is to increase density of the loose ground, and the other is to increase sinkage of legs. If the density of the ground is increased by vibration/stop, the rovers are not easy to slip. This means that the shearing strength becomes large since the loose ground is given effect of vibration/stop. Moreover, when the sinkage of legs are increased, the supporting force becomes large. The difference of ground before and after vibrating are confirmed by implemented some experiments such as measurement of shearing strength, sinkage and earth pressure. As results, the value of shearing strength and sinkage of leg were increased after vibration. Also, the value of earth pressure was increased after vibration. Furthermore, these effects given by vibration/stop are confirmed using multi-legged rover. In experimental results, walking distance of proposed rovers with vibration was longer than one without vibration. From theses experimental results, we could get knowledge that the method using vibration/stop was very effective for the leg typed rovers.