Push-pull locomotion: Increasing travel velocity in loose regolith via induced wheel slip

IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL Journal of Terramechanics Pub Date : 2023-09-02 DOI:10.1016/j.jterra.2023.08.005
Cyndia Cao , Deaho Moon , Colin Creager , Dennis K. Lieu , Hannah S. Stuart
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Abstract

Push–pull locomotion is an effective mobility mode for traversing loose lunar regolith and climbing sandy slopes. A rover with an active suspension can generate thrust from a set of anchored wheels by adjusting its wheelbase while driving the remaining wheels. This paper explores the relationship between the velocities of the rotational and translational suspension elements. Using a kinematic slip greater than 30%–40%, inchworming surpasses both the travel velocity and power efficiency of normal driving on slopes between 10°–20°. On a 20°slope, inchworming improves travel reduction from 98% to 85% and reduces normalized power consumption by a factor of eight. Experiments with NASA’s upcoming Volatiles Investigating Polar Exploration Rover show that increasing kinematic slip increases its travel velocity in a sink tank by 35%. Models using granular resistive force theory indicate that wheels driving at higher slip can generate greater tractive force and thus reduce the load on the anchored wheels. Otherwise, at lower driving slip, the load capacity of anchored wheels may be exceeded and result in oscillatory overall travel. These experiments suggest that there is further room to improve wheeled locomotion by intentionally inducing wheel slip, especially in articulated suspensions.

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推拉运动:通过诱导车轮打滑增加松散风化层中的行驶速度
推挽运动是一种穿越松散月球风化层和攀登沙质斜坡的有效移动方式。具有主动悬架的探测车可以在驱动其余车轮的同时,通过调整其轴距,从一组锚定车轮中产生推力。本文探讨了旋转和平移悬架元件速度之间的关系。使用大于30%-40%的运动学滑移,在10°-20°的斜坡上,渐进式蚯蚓的行驶速度和动力效率都超过了正常行驶的速度和动力效率。在坡度为20°的情况下,渐进式钻进将行程减少率从98%提高到85%,并将标准化功耗降低了8倍。美国宇航局即将发射的挥发物极地探测漫游者的实验表明,增加运动学滑移可使其在水槽中的行进速度提高35%。采用颗粒阻力理论的模型表明,车轮在较大滑移下行驶可以产生较大的牵引力,从而减小锚定车轮的载荷。否则,在较低的驱动滑移下,锚定车轮可能会超过其承载能力,导致总行程振荡。这些实验表明,通过有意诱导车轮打滑,特别是在铰接悬架中,还有进一步改善车轮运动的空间。
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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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