Abstract
In future planetary exploration missions, planetary robots are required to traverse over very rough terrain. On the lunar surface and Mars surface, there are covered with loose soil. The mechanism, which occurs stacks, is not yet clear. Mobility performance of rover change by the wheel forms. However, the research is very few that focus on wheel forms. Therefore, this paper investigates the kinematics behavior of planetary rovers with loose soil traction mechanism from the standpoint that wheel forms about wheel size, wheel with or without lug. Wheel with lug increase mobility performance than without. Moreover, from running experiments when radius of the wheel becoming large, the mobility performance of wheel increases
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