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Development of a Transformable Three-wheeled Lunar Rover: Tri-Star Ⅳ

机译：可变形三轮月球车的研制：三星四号

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摘要

The Japanese government is planning to send a rover to investigate the moon's surface in the near future, and it has been carrying out a considerable amount of research and making significant developments to make this possible. Toward that end, we have been developing and proposing expandable three-wheeled rovers. This paper proposes a new concept for a three-wheeled rover, namely the Tri-Star Ⅳ, and its mechanical design is described herein. Tri-Star Ⅳ has two arms that can rotate around horizontal shoulder axes and connect the rover's main body, and two rear wheels with off-centered crank-type axles that can expand from a storage posture. The two arms can be adjusted to adapt to traversing over sloped terrain, including recovery from rollover. The new wheels for traveling on the moon's surface, which is covered with regolith, are composed of a spring spoke and canvas cloth. In this project, two types of Tri-Star Ⅳ were developed and field-tested. The first was designed for mobility over rough sloped terrain. The other rover had a new front wheel installed that was designed for tethered descent/climbing over steep slopes. This paper reports on the mobilities of Tri-Star Ⅳ, which were verified in experiments conducted on real sand and a test bed and in a field test at the Nakatajima sand dune in Japan.
机译：日本政府计划在不久的将来派出一个流动站来调查月球表面，日本政府一直在进行大量研究，并做出了重大进展以使其成为可能。为此，我们一直在开发和提出可扩展的三轮流浪者。本文提出了一种三轮流浪者的新概念，即Tri-StarⅣ，并在此对其机械设计进行了描述。 Tri-StarⅣ的两个臂可以绕水平肩部轴旋转并连接流动站的主体，两个后轮具有偏离中心的曲柄式车轴，可以从存放姿势扩展。可以调节两个臂以适应在倾斜地形上的穿越，包括从侧翻中恢复。在月球表面上行驶的新车轮上覆盖着稀土，由弹簧辐条和帆布制成。在该项目中，开发了两种类型的Tri-StarⅣ并进行了现场测试。第一个设计用于在崎rough的斜坡上移动。另一辆流动站安装了新的前轮，该前轮设计用于在陡峭的斜坡上进行系绳下降/爬升。本文报道了Tri-StarⅣ的流动性，该流动性已在日本的中岛沙丘上的真实沙子和试验台上进行的实验以及现场测试中得到验证。

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  • 来源
    《Journal of Field Robotics》 |2014年第1期|206-223|共18页
  • 作者

    Takeshi Aoki; Yuki Murayama; Shigeo Hirose;

  • 作者单位

    Department of Advanced Robotics, Chiba Institute of Technology, Narashino, Tsudanuma 2-17-1, Chiba, Japan;

    Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, Meguro, Ookayama 2-12-1, Tokyo, Japan;

    Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, Meguro, Ookayama 2-12-1, Tokyo, Japan;

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