2024-03-29T07:58:32Z
https://soar-ir.repo.nii.ac.jp/oai
oai:soar-ir.repo.nii.ac.jp:00013321
2022-12-14T04:27:34Z
1309:1310
Development of Grousers with a Tactile Sensor for Wheels of Lunar Exploration Rovers to Measure Sinkage
Iizuka, Kojiro
Sasaki, Tatsuya
Yamano, Mitsuhiro
Kubota, Takashi
Lunar Exploration Rovers
Loose Soil
Grouser
Tactile Sensor
Strain Gauge
This paper presents a grouser developed for the wheels of lunar exploration rovers to measure sinkage. The wheels, which are intended to traverse loose soil such as lunar regolith, contain grousers that transfer thrust to the wheels and thus to the body of the rover. The interaction between the wheel (with grousers) and the loose soil can be described using a kinematic model. When traversing loose soil, the wheel sinks into the soil, which necessitates knowledge of the entrance angle needed in order to avoid this problem. If the entrance angle is known, the sinkage can be measured in real time before adverse conditions occur. Because of the importance and usefulness of detecting the entrance angle of the wheel, we herein propose a grouser with an embedded tactile sensor. A strain gauge on the surface of the grousers serves as the tactile sensor. In order to confirm the precision of the proposed grouser, we have performed tests on a rigid surface and loose soil surfaces.
Article
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS. 11:49 (2014)
journal article
INTECH EUROPE
2014-03-26
application/pdf
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
11
49
1729-8806
https://soar-ir.repo.nii.ac.jp/record/13321/files/Development_Grousers_Tactile_Sensor.pdf
eng
10.5772/57361
https://doi.org/10.5772/57361