Soil Mechanics–Based Testbed Setup for Lunar Rover Wheel and Corresponding Experimental Investigations
نویسندگان
چکیده
منابع مشابه
A Wheel–on–limb rover for lunar operation
The All–Terrain Hex–Limbed Extra–Terrestrial Explorer (ATHLETE) is a new mobility platform developed for potential lunar operations. This six limbed rover is designed to traverse quickly over benign terrain by rolling, traverse rough and steep terrain by walking, as well as perform general manipulation of tools and payloads. This flexible robotic platform will provide a mobile base for pressuri...
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In order to study passing ability of lunar rover in lunar soil, the mechanical parameters between lunar wheel and lunar soil should be analyzed. The mechanical parameters can reflect the mechanical relationship between lunar rover wheel and regolith. These parameters include sinkage, drawbar pull, driving torque, motion resistance and slip. In this paper, these parameters are measured by soil b...
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Configuration of locomotion for planetary rovers is motivated by increased interest in exploring lunar polar craters. Current rover designs cannot achieve the ascent or descent required by steep, unconsolidated lunar slopes. New designs must provide locomotive capability for steep climbing, techniques for controlling slip, and safely navigating down and along steep slopes. We propose a locomoti...
متن کاملWheel-Soil Interaction Model for Rover Simulation and Analysis Using Elastoplasticity Theory
A novel approach is proposed for the modeling of rigid-wheel and soft-soil interaction to efficiently compute normal and shear stress distributions in the contact area. The authors propose a velocity field in the vicinity of the contact area based on the physical nature of the problem. Thereupon, the incremental changes to the stress field are computed by resorting to elastoplasticity theory an...
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ژورنال
عنوان ژورنال: Journal of Aerospace Engineering
سال: 2017
ISSN: 0893-1321,1943-5525
DOI: 10.1061/(asce)as.1943-5525.0000782