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DEM Analysis and Evaluation of Hopping Motion on a Sandy Surface in Microgravity
http://hdl.handle.net/10228/00008451
http://hdl.handle.net/10228/00008451ad7e5a10-80df-4832-9fbf-e5e35b407fcb
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
sociorobo_18.pdf (1.4 MB)
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| Item type | 学術雑誌論文 = Journal Article(1) | |||||||||||||
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| 公開日 | 2021-09-07 | |||||||||||||
| 資源タイプ | ||||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||||
| 資源タイプ | journal article | |||||||||||||
| タイトル | ||||||||||||||
| タイトル | DEM Analysis and Evaluation of Hopping Motion on a Sandy Surface in Microgravity | |||||||||||||
| 言語 | ||||||||||||||
| 言語 | eng | |||||||||||||
| 著者 |
Kobashi, Keita
× Kobashi, Keita× 永岡, 健司
WEKO
30315
× Yoshida, Kazuya |
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| 抄録 | ||||||||||||||
| 内容記述タイプ | Abstract | |||||||||||||
| 内容記述 | Hopping mobility is effective for exploration robots present on small celestial bodies including asteroids and comets and their surfaces are covered in certain places with granular materials such as fine grain sand. However, existing studies do not address hopping mobility on the aforementioned types of granular materials in detail. Therefore, it is necessary to analyze hopping motion on sandy surface for future missions. This study presents a parametric analysis of the hopping motion on granular materials based on a discrete element method (DEM) simulation. In particular, the DEM allows for the numerical simulation of the dynamic behaviors of numerous fine particles. The DEM defines a sand particle as a simple sphere and computes mechanical interaction between each particle which follows some simple laws of dynamics. To analyze the hopping motion, we focus on two characteristics of the hopping motion: the initial hop velocity and hop angle of the robot. In DEM simulations, we change the friction and rolling friction coefficient of the sand particles, the acceleration of gravity and the angular velocity of the robot. We perform a simplified analysis and assume that the terrain surface in DEM simulation is smooth and flat and that the robot exhibits a cubic shape. Based on the research results, we qualitatively evaluate the exploration robot's motion on a sandy surface by DEM analysis when compared with its motion on a rigid surface. | |||||||||||||
| 備考 | ||||||||||||||
| 内容記述タイプ | Other | |||||||||||||
| 内容記述 | International Symposium on Space Technology and Science (32nd ISTS), June 15-21, 2019, Fukui, Japan | |||||||||||||
| 書誌情報 |
Transactions of the Japan Society for Aeronautical and Space Sciences, Aerospace Technology Japan 巻 19, 号 5, p. 639-646, 発行日 2021-09-04 |
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| 出版社 | ||||||||||||||
| 出版者 | 日本航空宇宙学会 | |||||||||||||
| DOI | ||||||||||||||
| 関連タイプ | isIdenticalTo | |||||||||||||
| 識別子タイプ | DOI | |||||||||||||
| 関連識別子 | https://doi.org/10.2322/tastj.19.639 | |||||||||||||
| 日本十進分類法 | ||||||||||||||
| 主題Scheme | NDC | |||||||||||||
| 主題 | 501 | |||||||||||||
| ISSN | ||||||||||||||
| 収録物識別子タイプ | ISSN | |||||||||||||
| 収録物識別子 | 1884-0485 | |||||||||||||
| 著作権関連情報 | ||||||||||||||
| 権利情報 | Copyright (c) 2021 The Japan Society for Aeronautical and Space Sciences | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | Asteroid Exploration | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | Sandy Surface | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | Hopping Robot | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | DEM | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | Parametric Analysis | |||||||||||||
| 出版タイプ | ||||||||||||||
| 出版タイプ | VoR | |||||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||||
| 査読の有無 | ||||||||||||||
| 値 | yes | |||||||||||||
| 連携ID | ||||||||||||||
| 8783 | ||||||||||||||
