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.
Drawbar pull of a wheel with an actively actuated lug on sandy terrain
Journal of Terramechanics ; 56 ; 17-24
2014
8 Seiten, 20 Quellen
Article (Journal)
English
Drawbar pull of a wheel with an actively actuated lug on sandy terrain
Automotive engineering | 2014
|Drawbar pull of a wheel with an actively actuated lug on sandy terrain
Online Contents | 2014
|NTIS | 1980
NTIS | 1975