Evaluation of influence of surface shape of wheel on traveling performance of planetary rovers over slope

Masataku Sutoh, Keiji Nagatani, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

Planetary rovers play a significant role in lunar and Martian surface explorations. However, because of wheel slippage, the wheels of planetary rovers can get stuck in loose soil, causing the exploration mission to fail. To avoid slippage and increase the drawbar pull, the wheels of planetary rovers typically have lugs (i.e., grousers) on their surface. Recent studies report that these lugs can substantially improve the travelling performances of planetary rovers. Therefore, in this study, we conducted experiments using lightweight two-wheeled rover testbeds in a sandbox to provide a quantitative confirmation of the influence of lugs on the travelling performances of planetary rovers. Based on our experimental results, we confirmed that although lugs have some effect on the travelling performances over gentle slopes, they have a greater effect on the travelling performances over steep slopes.

Original languageEnglish
Title of host publication17th International Conference of the International Society for Terrain Vehicle Systems 2011, ISTVS 2011
Pages457-463
Number of pages7
Publication statusPublished - 2011 Dec 1
Event17th International Conference of the International Society for Terrain Vehicle Systems 2011, ISTVS 2011 - Blacksburg, VA, United States
Duration: 2011 Nov 182011 Nov 22

Publication series

Name17th International Conference of the International Society for Terrain Vehicle Systems 2011, ISTVS 2011

Other

Other17th International Conference of the International Society for Terrain Vehicle Systems 2011, ISTVS 2011
CountryUnited States
CityBlacksburg, VA
Period11/11/1811/11/22

Keywords

  • Loose soil
  • Planetary rover
  • Wheel

ASJC Scopus subject areas

  • Automotive Engineering

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