Driving wheel operation is characterized by force interactions with the ground, manifested in form of vibrations. Signals generated driving wheels can be analyzed frequency spectrum tractor drawbar pull. The paper presents analysis a pull signal equipped two types special and standard tires. Beside evaluation wheels’ properties according to power, spectra measured signals were using fast Fourie...

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...

This paper presents two examples of contact dynamics simulations for space robotics application: Satellite docking in GEO and rover locomotion on planetary surfaces. The contact modeling techniques include a) contact between polygonal surfaces according to the elastic foundation model theory and b) contact between digital elevation grid surfaces and point cloud surfaces with application of Bekk...

Planetary rovers are different from conventional terrestrial vehicles in many respects, making it necessary to investigate the terramechanics with a particular focus on them, which is a hot research topic at the budding stage. Predicting the wheel–soil interaction performance from the knowledge of terramechanics is of great importance to the mechanical design/evaluation/optimization, dynamics s...