著者

Naoyuki NISHIO Shin-Ichiro NISHIDA Shintaro NAKATANI

出版者

THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES

雑誌

TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, AEROSPACE TECHNOLOGY JAPAN (ISSN:18840485)

巻号頁・発行日

vol.19, no.4, pp.469-476, 2021 (Released:2021-07-04)

参考文献数

16

被引用文献数

1

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The rover for future Mars exploration will be expected to have higher rough terrain traveling performance compared with conventional rovers. In this paper, we propose a rover with a weight of about 30 kg that can be transported to Mars by a Japanese rocket. The purpose of this study is to propose and develop a hinge-type movable center-of-gravity mechanism wherein the bending of the rover's body with a motor shows high rough terrain-driving performance with minimum degrees of freedom. The proposed mechanism's performance is evaluated by conducting travel experiments on a assumed terrain, that is, a hard rock with a grade inclination of 45 deg and a height of 0.15 m above the sand. The effectiveness of the proposed mechanism in getting over a step was confirmed by conducting experiments using a prototype model.