One new structure of Semi-step Walking Wheel Modeled on Impeller is constructed based on Vehicle-Terramechanics. Based on Passive earth pressure of soil mechanics put forward by C. A. Coulomb, the front force formula of the vane of Semi-step Walking Wheel modeled on Impeller is reduced and the wheel traction force when a set of vanes insert the earth is derived. Some Kinematics Simulations are conducted for installing Lunar rover model with ADAMS software. The simulation results show that the wheel can travel smoothly on straight road, climb over bump obstacles. Also, the ability of the lunar rover one-side surmounting obstacle is better than the ability of two-sides. The walking wheel inherits high ride comfort of traditional wheel and excellent cross obstacle ability of walking wheel.


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    Title :

    Research of Semi-Step Walking Wheel Based on Vehicle-Terramechanics


    Contributors:
    Zhao, Yi-bing (author) / Guo, Lie (author) / Li, Lin-Hui (author) / Zhang, Ming-Heng (author)


    Publication date :

    2013


    Size :

    6 Seiten




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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