Comparison of lunar rover wheel performance in soils with different cohesive properties

IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL Journal of Terramechanics Pub Date : 2024-09-13 DOI:10.1016/j.jterra.2024.101011
Keisuke Takehana, Shino Kizaki, Tomomi Tanaka, Kentaro Uno, Kazuya Yoshida
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Abstract

Wheeled mobile robots, rovers, are highly effective in lunar exploration. However, the lunar regolith can cause wheel slippage, resulting in an inability to travel for the rover. A single-wheel testbed is usually used to analyze a rover wheel’s driving performance. Our experiment can control the rotation and translation of the wheels separately, realizing experiments in any slippage condition. Moreover, this testbed can conduct experiments using regolith simulant with a cohesive property, in addition to Toyoura sand, which is non-cohesive sand collected from the earth.

This paper presents the results of a driving test on two types of loose soil: Toyoura sand and regolith simulant (FJS-1). The wheel used in the experiment is the preliminary version of the actual flight model of a 10 kg class lunar exploration microrover. The results reveal that the traction performance on both sands improves as the slip ratio increases. The performance did not depend on velocity but on vertical load. It should be noted that the cohesive simulant shows a higher difference in traction performance than Toyoura sand. These findings, measured in detail from the low-slip to the high-slip range, contribute to the actual driving operation of the rover missions.

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比较月球车车轮在不同粘性土壤中的性能
轮式移动机器人--漫游车在月球探测中非常有效。然而,月球上的碎石会造成车轮打滑,导致漫游车无法行驶。单轮试验台通常用于分析漫游车车轮的驱动性能。我们的实验可以分别控制车轮的旋转和平移,实现任何打滑条件下的实验。此外,该试验台除了可以使用从地球上采集的无粘性的丰浦砂外,还可以使用具有粘性的碎石模拟物进行实验:本文介绍了在两种松散土壤上进行的驾驶试验的结果:丰浦砂和碎石模拟物(FJS-1)。实验中使用的车轮是 10 公斤级月球探测微车实际飞行模型的初步版本。实验结果表明,随着滑移率的增加,两种沙的牵引性能都有所改善。性能并不取决于速度,而是取决于垂直载荷。值得注意的是,与丰浦砂相比,粘性模拟砂的牵引性能差异更大。这些研究结果从低滑移到高滑移范围进行了详细测量,有助于漫游车任务的实际驾驶操作。
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来源期刊
Journal of Terramechanics
Journal of Terramechanics 工程技术-工程:环境
CiteScore
5.90
自引率
8.30%
发文量
33
审稿时长
15.3 weeks
期刊介绍: The Journal of Terramechanics is primarily devoted to scientific articles concerned with research, design, and equipment utilization in the field of terramechanics. The Journal of Terramechanics is the leading international journal serving the multidisciplinary global off-road vehicle and soil working machinery industries, and related user community, governmental agencies and universities. The Journal of Terramechanics provides a forum for those involved in research, development, design, innovation, testing, application and utilization of off-road vehicles and soil working machinery, and their sub-systems and components. The Journal presents a cross-section of technical papers, reviews, comments and discussions, and serves as a medium for recording recent progress in the field.
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