In this paper new procedures for the measurement of mobility parameters, such as contact pressure, and an analysis of a low-pressure wheel model on deformable terrain, are presented. Because the lunar surface is covered by regolith which implies an irregular and rough terrain, the rover has difficulty in moving. Therefore a new low-pressure wheel is recommended for high mobility performance and low power consumption with a less complex mechanism. A low-pressure wheel can change its contact shape and pressure distribution to account for terrain. The presented measurement is achieved by a new measurement instrument on the wheel, and we presented analysis model is conducted through analysis of terramechanics mobility dynamics of a low-pressure wheel with normal stress. These procedures are valuable for evaluating the longitudinal velocity of the low-pressure wheel on deformable terrain.

Many types of motor drivers have been developed to meet various mission requirements for robots, but any of them are sufficient so that, new motor drivers are yet to developed. In this paper, the software of a control motor controller called the Netroller is explained, intelligent and distributed motor controller for variable mission requirements. The Netroller drives a motor or any actuator with the pulse width modulation (PWM) mode. The Netroller consists of a microcomputer unit (MPU) and a communication network that interface that can connect the Netroller each other by control area network (CAN) and the Netroller complies reducing harness complexity. The Netroller communicate with a main concentrated computer unit (MCCU). Furthermore the Netroller is very small, so enable to distribute the robot joints. An example is applying the Netroller to the reconfiguration brachiating space robot (RBR) for improving robot performance and reliability.