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.


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    Title :

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


    Contributors:
    Yang, Yang (author) / Sun, Yi (author) / Ma, Shugen (author)

    Published in:

    Publication date :

    2014


    Size :

    8 Seiten, 20 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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

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



    Drawbar Pull

    NTIS | 1980



    Drawbar Pull

    NTIS | 1975