Development of simulation system for multi-pair crawlered and transforming explorer

This paper describes a development of simulation system to verify performance of our proposing multi-crawlered and transforming lunar and planetary explorers. Firstly, we propose a new type of explorer capable of transforming its configuration and with a multiple pair of crawler mechanisms to improve mobility in extra-rough terrain. Secondly, modeling equations for a multiple pair of crawlers connected to transformable legs are formulated. The application of the model to a conceptual examination and transforming pattern to facilitate mobility over extra-rough terrain is discussed, whereupon physical parameters for a conceptual design model are identified through experiment using developed conceptual model. Finally, the hill-climbing performance was evaluated to assess the effectivity of the proposed explorer and validate the proposed simulation method.