Browse > Article
http://dx.doi.org/10.12652/Ksce.2017.37.4.0693

Experimental Analysis of Lunar Rover Wheel's Mobility Performance Depending on Soil Condition and Wheel Configuration  

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)
Publication Information
KSCE Journal of Civil and Environmental Engineering Research / v.37, no.4, 2017 , pp. 693-703 More about this Journal
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.
Keywords
Lunar exploration rover; Soil condition; KLS-1; Grouser; Single wheel testbed;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 Apostolopoulos, D., Michael, D., Wangner, S. H. and James T. (2003). Results of the inflatable robotic rover testbed, Technical Report CMU-RI-TR-03-18, Robotics Institute, Carnegie Mellon University.
2 Asnani, V., Delap, D. and Creager, C. (2009). "The development of wheels for the lunar roving vehicle." Jounal of Terramechanics, Vol. 52, No. 3, pp. 89-103
3 Bekker, M. G. (1960). Off-the-road locomotion, research and development in terramechanics. Univerisity of Michigan Press.
4 Bekker, M. G. and Butterworth, A. V. (1965). " Terrain-vehicle System Evaluation." Journal of Terramechanics, Vol. 2, No. 2, pp. 47-67.   DOI
5 Chen, S. (2013). "Chinese lunar rover looks too much like Nasa's opportunity, say scientists." South China Morning Post.
6 Gee, D. and William C. (1976). "Pull and lift characteristics of single lugs on rigid wheels in wet rice soils." Transactions of ASAE, Vol. 19, No. 3, pp. 433-441.   DOI
7 Ding, L, Yoshida K, Nagatani K, Gao H. B. and Deng Z. Q. (2009). "Parameter identification for planetary soil based on decoupled analytical wheel-soil interaction terramechanics model." Proceedings of 2009 IEEE/RSJ International Conference on Intelligent Robots and System, pp. 4122-4127.
8 Deng, Z. Q., Ding L., Gao, H. B., Tao, J. G. and Wang S. Q. (2010). "Influence of soil properties on lunar rover's wheel-soil interaction mechanics." Harbin Gongye Daxue Xuebao (Journal of Harbin Institute of Technology), Vol. 42, No. 11, pp. 1724-1729.
9 Ding, L., Gao H., Deng, Z., Nagatani, K. and Yoshida, K. (2011). "Experimental study and analysis on driving wheel's performance for planetary exploration rovers moving in deformable soil." Journal of Terramechanics, Vol. 48, No. 1, pp. 17-45.   DOI
10 Heiken, H., Vaniman, D. and French, B. (1991). Lunar source book: A user's guide to the moon. Cup Archive.
11 Iagnemma, K., Hassan, S. and Steven D. (2005). A laboratory single wheel testbed for studying planetary rover wheel-terrain interaction, MIT field and space robotics laboratory technical report 01-05-05.
12 Mitchell, J. K., Houston, W. N., Carrier, W. D. and Costes, N. C. (1974). Apollo soil mechanics experiment S-200, Final Rep., NASA Contract NAS 9-11266, Space Sciences Laboratory Series 15, Issue 7, Univ. of California, Berkeley, California.
13 Janosi, Z. and Hanamoto, B. (1961). "Analytical determination of drawbar pull as a function of slip for tracked vehicle in deformable soils." Proc. 1st Int. Conf. of ISTVS, Torino, pp. 707-736.
14 Kim, K. J., Kim, S. H., Chong, K. T., Kang, H. Y. and Yu, K. H. (2016). "Evaluation of driving performance for planetary exploration rover according to variation of slip ratio and wheel shape." Proc. SIEC Annual Conference 2016, Tsukuba.
15 Kim, K. J. (2017). Modeling of wheel-soil interaction and evaluation of mobility performance for lunar/planetary exploration rover, M.S. Thesis, Dept. of Aerospace Engineering, Chonbuk National University, Jeonju, Korea.
16 Liu, J. C., Gao H. B. and Deng Z. Q. (2008). "Effect of straight grousers parameters on motion performance of small rigid wheel on loose sand." Information Technology Journal, Vol. 7, No. 8, pp. 1125-1132.   DOI
17 Masuda, S. (1964). "Researches on soil deformation by the tractor wheel and sinkage of the wheel lug in the soil." Tractive Performances of Wheel-type Tractor.
18 Parbatani, K. (2011). Reliability analysis of lunar rover wheel designs - methodology and visual inspection technique, M.S. Thesis, Dept. of Mechanical Engineering, Mc Gill University.
19 Ryu, B. H., Baek, Y., Kim, Y. S. and Chang, I. H. (2015). "Basic study for a Korean Lunar Simulant (KLS-1) development." Journal of The Korean Geotechnical Society, Vol. 31, No. 7, pp. 53-63 (In Korean).   DOI
20 Parbatani, K. K. and Thomson, V. J. (2012). "Inspection technique for reliability analysis of lunar rover wheel designs.", Earth and Space 2012: Engineering Science, Construction, and Operations in Challenging Environments. ASCE, pp. 145-154.
21 Salokhe, V. M. and Gee C. D. (1987). "Behaviour of wet clay soil under single cage wheel lugs." Journal of Agricultural Engineering Research, Vol. 37, Issue 3-4, pp. 255-266.   DOI
22 Tanaka, T. (1957). "Studies of power tiller on the moist paddy land, no. 1: Motion of the wheel." Journal of the Branch of Society of Agricultural Machinery, Japan 7, pp. 41-45.
23 Zhou, F., Arvidson, R. E., Bennett, K., Trease, B., Lindemann, R., Bellutta, P., Lagnemma, K. and Senatore, C. (2013). "Simulations of mars rover traverses." Journal of Field Robotics, Vol. 31 No. 1, pp. 141-160.   DOI
24 Wang, C. C. and Han, J. T. (2016). "Experimental analysis on rover wheel's traction performance using a single wheel testbed." Journal of The Korean Geotechnical Society, Vol. 32, No. 11, pp. 97-108.   DOI
25 Yoshida, K. and Ishigami G. (2004). "Steering characteristics of a rigid wheel for exploration on loose soil." Proceedings of the 2004 IEEE International Conference on Intelligent Robots and Systems, Sendai, Japan, pp. 3995-4000.
26 Zeng, X. W., He, C., Oravec, H., Wilkinson, A., Agui J. and Asnani V. (2009). "Geotechnical properties of JSC-1A lunar soil simulant." Journal of Aerospace Engineering, Vol. 23, No. 2, pp. 111-116.   DOI
27 Wong, J. (2010). Terramechanics and off-road vehicle engineering, Butterworth-heinemann.