Modeling of Flexible and Rigid Wheels for Exploration Rover on Rough Terrain
2011 (English)In: Proceedings of the 28th International Symposium on Space Technology and Science, 2011Conference paper (Refereed)
This paper presents a comprehensive wheel model that can quantitatively evaluate traction performance of ﬂexible/rigid wheelsdriving on deformable terrain. The proposed model exploits a terramechanics-based approach with taking account of pressures generated by wheel elasticity as well as terrain stiffness. Deﬂection of a ﬂexible wheel typically depends on a relative pressure between thewheel and terrain: the wheel will be signiﬁcantly deformed on rigid terrain whereas it will be hardly deformed on soft terrain. Therefore, the wheel-terrain interaction in the proposed model is divided into three contact sections: wheel front section, wheel deﬂected(ﬂat) section, and wheel rear section. The traction force of the wheel is obtained as an integral of normal and shear stresses generatedat each section. Simulation studies with varied wheel pressures, such as ﬂexible, semi-ﬂexible, and rigid wheels, are conducted tovalidate the proposed model. Also, traction performances of ﬂexible/rigid wheels are compared based on a metric called tractiveefﬁciency. The comparison implies an optimal wheel pressure of ﬂexible wheel for better traction performance.
Place, publisher, year, edition, pages
Planetary Exploration Rover, Flexible wheel, Wheel contact model, and Terramechanics
IdentifiersURN: urn:nbn:se:hh:diva-20851OAI: oai:DiVA.org:hh-20851DiVA: diva2:586863
the 28th International Symposium on Space Technology and Science, Okinawa, Japan, 5-12 JUne, 2011