The surfaces of the Moon and Mars are covered with loose soil. In such conditions, planetary rovers can get stuck and even cause failure of an exploration mission. To avoid such problems, the wheels of planetary rovers typically have lugs (i.e., grousers) on their surface, which substantially improve their traveling performance. However, there exists no theoretical method to determine a suitable lug interval. In this study, we first modeled the linear traveling speed of a wheel with lugs and provided guidelines for determining a suitable lug interval, as well as the corresponding terramechanical stress models. Next, to verify the suitable interval for lugs, we performed traveling tests using a two-wheeled rover with wheels having different numbers of lugs of different heights. According to the experimental results, when a wheel has three lugs in a range where normal stress is generated beneath it, it can travel with constant speed while the traveling performance is substantially improved.


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    Titel :

    Analysis of the Traveling Performance of Planetary Rovers with Wheels Equipped with Lugs over Loose Soil


    Beteiligte:
    Sutoh, M. (Autor:in) / Nagatani, K. (Autor:in) / Yoshida, K. (Autor:in)

    Kongress:

    Thirteenth ASCE Aerospace Division Conference on Engineering, Science, Construction, and Operations in Challenging Environments, and the 5th NASA/ASCE Workshop On Granular Materials in Space Exploration ; 2012 ; Pasadena, California, United States


    Erschienen in:

    Erscheinungsdatum :

    17.04.2012




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Traveling performance evaluation of planetary rovers on loose soil

    Sutoh, M. / Yusa, J. / Ito, T. et al. | British Library Online Contents | 2012


    Soil behavior of wheels with grousers for planetary rovers

    Moreland, Scott / Skonieczny, Krzysztof / Inotsume, Hiroaki et al. | IEEE | 2012


    Planetary Rovers Fitted With Omni-Directional / Mecanum Wheels

    International Society for Terrain-Vehicle Systems | British Library Conference Proceedings | 2008