Mobility performance evaluation of planetary rover with similarity model experiment

摘要

In order to carry out experiments many times on the Earth in consideration of the difference of gravitational acceleration to design the rover properly, we introduce similarity law to design and construct the experimental models. We have produced two experimental models of the planetary rover with 5-wheel suspension system (called "PEGASUS") and 4WD system under for 1G and 1/2G gravity. We have carried out a low-gravity flight experiment in various parameters using the model on the airplane. Assuming that similarity law is true under every gravity environment, we have made relative evaluation on a degree of mobility by the difference of mobility systems. In the result of the flight experiment, it is show that PEGASUS is able to successfully move better than 4WD.