mobility performance evaluation of planetary rover with simi(4)

月球车珍贵资料——来自美国

- Experimenters can on board and control their system and change the settings if necessary

Three following flight experiments were carried out. 1. Climb over the step

2. Sandy slope of around 15 degrees

3. Sandy slope of around 10 degrees with some stones

An example view of the flight experiment is shown in Fig.8. A detailed parameters in the experiment is shown in Table2. Figure 9 illustrates the exterior of the experimental tank and the position of the Model.

The experimental data are acquired as image data from four cameras, which are set in each position (top face, front face, side face, Fig.10) of the experimental tank. We can measure the number of rotations of each wheel and the locus and orientation of models from the image data. Torque generated by each wheel can be calculated from the number of revolu-tions measured in each wheel. And, we can calculate the slip ratio of the model in sandy area. For the equality in conditions for each suspension systems, size and velocity of models are set to be same. The velocity of the experimental model is set as maximum speed (10.0 [cm/s]). The experimental model starts from the initial position and runs to the end of the experimental tank. In the Flight #2 and #3, we made a sandy

slope using the soil called "Simulant", which is produced so as to have equivalent mechanics of the sand on the moon. Also, we cultivated the soil whenever the model had finished running in order to make the state of the soil uniform each time.

Fig.7 Flight attitude pattern of Parabolic Flight

(a) An overview of

the experimental apparatus

Fig.8

(b) A view of Flight #1

An example view of the flight experiment

(c) A view of Flight #2

Table 2 An experiment parameters of the Flight

(i) Flight # 1 (ii) Flight # 2

Fig.9 Initial condition of the Flight #1,#2,#3

(iii) Flight # 3Fig.10 Camera Position