Sandy terrains are widely distributed across terrestrial, lunar and Martian surfaces. These surfaces are difficult to traverse, and their access presents an ongoing challenge for mobile robots. This paper introduces a novel wheeled mechanism integrated with an actively actuated lug. The drawbar pull characteristics are measured on a prototype mechanism affixed to the fabricated testbed undergoing a complete lug–soil interaction process. By tuning the sinkage length of the active lug, the developed wheeled mechanism can dampen the fluctuations of the drawbar pull that arise when using a fixed lugged wheel. The performance of the developed wheeled mechanism is highlighted by comparing its generated drawbar pull with that generated by a smooth wheel and a fixed lugged wheel.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Drawbar pull of a wheel with an actively actuated lug on sandy terrain


    Beteiligte:
    Yang, Yang (Autor:in) / Sun, Yi (Autor:in) / Ma, Shugen (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2014


    Format / Umfang :

    8 Seiten, 20 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




    Drawbar pull of a wheel with an actively actuated lug on sandy terrain

    Yang,Y. / Sun,Y. / Ma,S. et al. | Kraftfahrwesen | 2014



    Drawbar Pull

    NTIS | 1980



    Drawbar Pull

    NTIS | 1975