Study of passive steering mechanism for small Mars surface exploration rovers

IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL
Asahi Oe, Shin-Ichiro Nishida, Shintaro Nakatani
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引用次数: 0

Abstract

Planetary surface exploration rovers are required to have the ability to travel over uneven ground such as sandy or rocky terrain. In addition, to maintain long-term functionality under severe mass constraints, the rover must be highly reliable with a simple configuration. The reduction in the number of actuators will also contribute to a reduction in the number of electrical components involved and improve reliability. This paper proposes a lightweight and simple traveling and steering mechanism that combines a path-following system based on the difference in rotational speed of the left and right wheels when traveling in a curve and a passive Ackermann mechanism without an actuator, assuming a small exploration rover of a size and mass that can be mounted on a Japanese launch vehicle. We also propose a correction method to improve the path-following performance. We also developed a prototype wheeled rover of the target size and weight, and tested and evaluated the effectiveness of the proposed method in following the target path and overcoming obstacle on simulated soil.

小型火星表面探测车被动转向机制研究
行星表面探测车必须能够在沙地或岩石地形等不平整的地面上行驶。此外,为了在质量严重受限的情况下保持长期功能,漫游车必须具有高度可靠性和简单的配置。减少执行器的数量也有助于减少相关电气元件的数量,提高可靠性。本文提出了一种轻便、简单的行进和转向机构,该机构结合了基于曲线行进时左右车轮旋转速度差的路径跟踪系统和无推杆的被动式阿克曼机构,假设小型探测车的尺寸和质量可以安装在日本运载火箭上。我们还提出了一种修正方法,以提高路径跟踪性能。我们还开发了一个具有目标尺寸和重量的轮式漫游车原型,并在模拟土壤上测试和评估了所提方法在遵循目标路径和克服障碍方面的有效性。
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来源期刊
Journal of Terramechanics
Journal of Terramechanics 工程技术-工程:环境
CiteScore
5.90
自引率
8.30%
发文量
33
审稿时长
15.3 weeks
期刊介绍: The Journal of Terramechanics is primarily devoted to scientific articles concerned with research, design, and equipment utilization in the field of terramechanics. The Journal of Terramechanics is the leading international journal serving the multidisciplinary global off-road vehicle and soil working machinery industries, and related user community, governmental agencies and universities. The Journal of Terramechanics provides a forum for those involved in research, development, design, innovation, testing, application and utilization of off-road vehicles and soil working machinery, and their sub-systems and components. The Journal presents a cross-section of technical papers, reviews, comments and discussions, and serves as a medium for recording recent progress in the field.
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