Development of Grousers with a Tactile Sensor for Wheels of Lunar Exploration Rovers to Measure Sinkage
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 whee...
Main Authors: | , , , |
---|---|
Format: | Article |
Language: | English |
Published: |
SAGE Publishing
2014-03-01
|
Series: | International Journal of Advanced Robotic Systems |
Online Access: | https://doi.org/10.5772/57361 |
id |
doaj-fa49e841de504dbda0d18f8e02833937 |
---|---|
record_format |
Article |
spelling |
doaj-fa49e841de504dbda0d18f8e028339372020-11-25T02:22:16ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142014-03-011110.5772/5736110.5772_57361Development of Grousers with a Tactile Sensor for Wheels of Lunar Exploration Rovers to Measure SinkageKojiro Iizuka0Tatsuya Sasaki1Mitsuhiro Yamano2Takashi Kubota3 Division of Mechanical Engineering and Robotics, Shinshu University, Japan Hitachi Construction Machinery Co., Ltd., Shinshu University, Japan Department of Mechanical Systems Engineering, Yamagata University, Japan Japan Aerospace Exploration Agency, JapanThis 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.https://doi.org/10.5772/57361 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Kojiro Iizuka Tatsuya Sasaki Mitsuhiro Yamano Takashi Kubota |
spellingShingle |
Kojiro Iizuka Tatsuya Sasaki Mitsuhiro Yamano Takashi Kubota Development of Grousers with a Tactile Sensor for Wheels of Lunar Exploration Rovers to Measure Sinkage International Journal of Advanced Robotic Systems |
author_facet |
Kojiro Iizuka Tatsuya Sasaki Mitsuhiro Yamano Takashi Kubota |
author_sort |
Kojiro Iizuka |
title |
Development of Grousers with a Tactile Sensor for Wheels of Lunar Exploration Rovers to Measure Sinkage |
title_short |
Development of Grousers with a Tactile Sensor for Wheels of Lunar Exploration Rovers to Measure Sinkage |
title_full |
Development of Grousers with a Tactile Sensor for Wheels of Lunar Exploration Rovers to Measure Sinkage |
title_fullStr |
Development of Grousers with a Tactile Sensor for Wheels of Lunar Exploration Rovers to Measure Sinkage |
title_full_unstemmed |
Development of Grousers with a Tactile Sensor for Wheels of Lunar Exploration Rovers to Measure Sinkage |
title_sort |
development of grousers with a tactile sensor for wheels of lunar exploration rovers to measure sinkage |
publisher |
SAGE Publishing |
series |
International Journal of Advanced Robotic Systems |
issn |
1729-8814 |
publishDate |
2014-03-01 |
description |
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. |
url |
https://doi.org/10.5772/57361 |
work_keys_str_mv |
AT kojiroiizuka developmentofgrouserswithatactilesensorforwheelsoflunarexplorationroverstomeasuresinkage AT tatsuyasasaki developmentofgrouserswithatactilesensorforwheelsoflunarexplorationroverstomeasuresinkage AT mitsuhiroyamano developmentofgrouserswithatactilesensorforwheelsoflunarexplorationroverstomeasuresinkage AT takashikubota developmentofgrouserswithatactilesensorforwheelsoflunarexplorationroverstomeasuresinkage |
_version_ |
1724862293930409984 |