小型火星表面探测车被动转向机制研究

IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL Journal of Terramechanics Pub Date : 2023-12-19 DOI:10.1016/j.jterra.2023.12.001
Asahi Oe, Shin-Ichiro Nishida, Shintaro Nakatani
{"title":"小型火星表面探测车被动转向机制研究","authors":"Asahi Oe,&nbsp;Shin-Ichiro Nishida,&nbsp;Shintaro Nakatani","doi":"10.1016/j.jterra.2023.12.001","DOIUrl":null,"url":null,"abstract":"<div><p>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.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"112 ","pages":"Pages 35-43"},"PeriodicalIF":2.4000,"publicationDate":"2023-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Study of passive steering mechanism for small Mars surface exploration rovers\",\"authors\":\"Asahi Oe,&nbsp;Shin-Ichiro Nishida,&nbsp;Shintaro Nakatani\",\"doi\":\"10.1016/j.jterra.2023.12.001\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>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.</p></div>\",\"PeriodicalId\":50023,\"journal\":{\"name\":\"Journal of Terramechanics\",\"volume\":\"112 \",\"pages\":\"Pages 35-43\"},\"PeriodicalIF\":2.4000,\"publicationDate\":\"2023-12-19\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Terramechanics\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0022489823000976\",\"RegionNum\":3,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"ENGINEERING, ENVIRONMENTAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Terramechanics","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0022489823000976","RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, ENVIRONMENTAL","Score":null,"Total":0}
引用次数: 0

摘要

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。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
Study of passive steering mechanism for small Mars surface exploration rovers

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.

求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
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.
期刊最新文献
Acoustic winter terrain classification for offroad autonomous vehicles Investigation of steer preview methods to improve predictive control methods on off-road vehicles with realistic actuator delays Comparison of selected tire-terrain interaction models from the aspect of accuracy and computational intensity Simulation of cohesive-frictional artificial soil-to-blade interactions using an elasto-plastic discrete element model with stress-dependent cohesion Modelling and simulation fundamentals in design for ground vehicle mobility Part II: Western approach
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1