Evaluation of Wheel Performance on Rough Terrain and Development of HS Wheel
Evaluation of Wheel Performance on Rough Terrain and Development of HS Wheel
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车轮在崎岖地形上的性能评价及HS车轮的研制
DOI：
10.20965/jrm.2000.p0593
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发表时间：
2000
期刊：
影响因子：
--
通讯作者：
S. Hirose
中科院分区：
文献类型：
--
作者：
Y. Uchida;Kazuya Furuichi;S. Hirose
我们正在开发的“HELIOS-V”，这是配备了4个低压轮胎外，2个高压轮胎内。该车辆旨在获得使用低压轮胎上下楼梯的性能，并通过使用高压轮胎在平坦地面上有效移动。为了充分利用车辆的特性，我们必须根据地形条件定量地了解车轮的性能。因此，我们建立了一个实验装置，以评估性能的车轮在几个地形条件下，没有影响的车辆运动。通过本实验，我们比较了低压轮胎和高压轮胎，并显示了低压轮胎在崎岖地形上的优越性。我们还评估了2种轮胎的狭缝和肋，使抓地力。基于这些考虑，我们开发了一种硬软车轮，或HS车轮，具有低压和高压轮胎的优点。
We are in the process of development of the“HELIOS-V”, which is equipped with 4 low-pressure tires outside and 2 high-pressure tires inside. This vehicle is designed to acquire the performance to ascend and descend stairs using low-pressure tires and move effectively on even ground by using high-pressure tires. To make the most of the characteristics of the vehicle, we have to understand the performance of the wheels in accordance with the terrain condition quantitatively. Therefore we constructed an experiment setup to evaluate performance of wheels on several terrain conditions without influence of the vehicle motion. By this experiment, we compared a low-pressure tire with a high-pressure tire and showed superiority of a low-pressure tire on rough terrain. We also evaluated 2 kinds of tires with slits and ribs to make grip force. Based on these considerations, we developed a Hard-Soft Wheel, or HS Wheel having both of the advantages of a low-pressure and high-pressure tire.