A single wheel test rig for ocean world rovers

IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL Journal of Terramechanics Pub Date : 2023-10-01 DOI:10.1016/j.jterra.2023.07.001
Athul Pradeepkumar Girija , Rachana Agrawal , Ye Lu , Archit Arora , Maxim de Jong , Sarag J. Saikia , James M. Longuski
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引用次数: 1

Abstract

Ocean Worlds such as Europa and Enceladus are known to harbor subsurface liquid water oceans under their icy crust and are high-priority targets for in situ exploration. Compared to the Moon and Mars, Ocean Worlds likely present a significantly more challenging environment for surface mobility systems due to the extremely cold temperature, high radiation dosage, and poorly constrained material properties under these conditions. Small-diameter wheels such as those used by Mars rovers are prone to slip-sinkage in loose soil and damage from sharp rock and ice formations. A 4-wheel rover with a simple drive system and large deployable compliant tires is proposed as a solution for extreme terrain mobility on Ocean World surfaces. The present work describes the design and construction of a single wheel test rig and a prototype large-diameter deployable wheel for Ocean World rovers and initial test results. The test rig allows independent control of the vertical load, slip ratio, slip angle, and camber angle, and accommodates large-diameter deployable wheels. The test rig features a modular test bed that can simulate varied surface features such as fine-grained ice, smooth hard ice, sharp ice formations, and large ice boulder fields.

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海洋世界漫游者的单轮试验台
众所周知,像木卫二和土卫二这样的海洋世界在其冰冷的地壳下蕴藏着地下液态水海洋,是原位勘探的优先目标。与月球和火星相比,由于极冷的温度、高辐射剂量和在这些条件下材料性能的限制很差,海洋世界可能为地表移动系统提供了一个更具挑战性的环境。火星探测车使用的小直径车轮容易在松散的土壤中滑落,也容易被尖锐的岩石和冰层损坏。提出了一种具有简单驱动系统和大型可展开柔性轮胎的四轮漫游车,作为海洋世界表面极端地形移动的解决方案。本文介绍了“海洋世界”月球车单轮试验台和大直径可展开轮样机的设计和制造,以及初步试验结果。该试验台可以独立控制垂直载荷、滑移比、滑移角和弧度角,并可容纳大直径可展开车轮。该测试平台具有模块化测试平台,可以模拟各种表面特征,如细粒度冰、光滑硬冰、尖锐的冰形成和大型冰巨石场。
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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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