KSCE Journal of Civil and Environmental Engineering Research (대한토목학회논문집)

Korean Society of Civil Engeneers (대한토목학회)
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Experimental Analysis of Lunar Rover Wheel's Mobility Performance Depending on Soil Condition and Wheel Configuration

지반 조건 및 휠 형상에 따른 달탐사 로버 휠 주행 성능 평가 실험 연구

  • Wang, Cheng-Can (University of Science & Technology) ;
  • Kim, Seok-Jung (Korea Institute of Civil Engineering and Building Technology) ;
  • Han, Jin-Tae (Korea Institute of Civil Engineering and Building Technology, UST)
  • 왕성찬 (과학기술연합대학원대학교(UST) 지반신공간공학과) ;
  • 김석중 (한국건설기술연구원) ;
  • 한진태 (한국건설기술연구원)
  • Received : 2017.02.14
  • Accepted : 2017.06.21
  • Published : 2017.08.01
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Abstract

Rover wheel's mobility depends on soil's condition and wheel's design. The purpose of this study is to evaluate the effect of soil conditions, which are Jumunjin sand and Korean lunar soil simulant (KLS-1), on wheel's motion performance. The experiments were performed by using a single wheel testbed with a wheel which grouser height is 15mm on Jumunjin sand and KLS-1, respectively. Also the influence of grouser length to wheel's mobility performance was studied. The experimental results of torque, drawbar pull and sinkage relating to slip ratio were discussed and analyzed to evaluate wheel's motion performance. Results showed wheel moving on KLS-1 has high performance than Jumunjin sand. Wheel's mobility performance was influenced by soil's properties of cohesion and frictional angle. In addition, wheel's performance of drawbar pull and Torque increased with the increasing of grouser length.

달 탐사 로버 휠의 주행 성능은 지반 조건과 휠의 형상에 따라 크게 달라진다. 이에 본 연구에서는 한국형 인공월면토 및 주문진 표준사에서 휠 형상을 변화시켜 달 탐사 로버 휠의 주행성능 평가를 실시하였다. 단일 휠 성능평가 실험장비를 이용하여 지반조건에 따른 영향을 검토하였고, 이와 더불어 인공월면토에서 그라우저 높이에 따른 휠 주행성능 평가를 실시하였다. 휠 주행성능 평가는 슬립율에 따른 토크, 견인력 및 침하량을 측정하여 각 조건별로 상대적인 비교를 하였다. 실험 결과 주문진 표준사에 비해 한국형 인공월면토에서 로버 휠 주행성능이 우수하였으며, 휠 주행성능이 흙의 점착력과 마찰각 특성에 큰 영향을 받는 것으로 나타났다. 또한, 휠 그라우저 높이에 따라 견인성능이 증가하는 것으로 나타났다.

Keywords

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