Current-Based Analysis and Validation of a Wheel–Soil Interaction Model for the Trafficability of a Planetary Rover
The assessment of trafficability for planetary rovers in relation to non-geometric hazards is a crucial issue in deep space exploration. This study relies on terramechanics theory and incorporates actual data from Mars soil and rover parameters to develop a model that accurately represents the inter...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-10-01
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| Series: | Aerospace |
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| Online Access: | https://www.mdpi.com/2226-4310/11/11/892 |
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| author | Yan Shen Meng Zou Hongtao Cao Dong Pan Baofeng Yuan Lianbin He |
| author_facet | Yan Shen Meng Zou Hongtao Cao Dong Pan Baofeng Yuan Lianbin He |
| author_sort | Yan Shen |
| collection | DOAJ |
| description | The assessment of trafficability for planetary rovers in relation to non-geometric hazards is a crucial issue in deep space exploration. This study relies on terramechanics theory and incorporates actual data from Mars soil and rover parameters to develop a model that accurately represents the interaction between the rover’s wheels and Martian soil. Through numerical simulations, this model specifically investigates the relationship between the current of the rover’s wheel drive motor and factors such as slip ratio, soil pressure parameters, and soil shear parameters. Terrestrial experiments are also conducted to verify the precision of certain numerical calculations. The proposed wheel–soil interaction model, based on wheel motor current, provides a foundation for assessing non-geometric trafficability and the inversion of planetary soil parameters. |
| format | Article |
| id | doaj-art-9b920f96295546e98573d9c66519f426 |
| institution | Kabale University |
| issn | 2226-4310 |
| language | English |
| publishDate | 2024-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Aerospace |
| spelling | doaj-art-9b920f96295546e98573d9c66519f4262024-11-26T17:42:50ZengMDPI AGAerospace2226-43102024-10-01111189210.3390/aerospace11110892Current-Based Analysis and Validation of a Wheel–Soil Interaction Model for the Trafficability of a Planetary RoverYan Shen0Meng Zou1Hongtao Cao2Dong Pan3Baofeng Yuan4Lianbin He5Key Laboratory for Bionics Engineering of Education Ministry, Changchun 130022, ChinaKey Laboratory for Bionics Engineering of Education Ministry, Changchun 130022, ChinaKey Laboratory for Bionics Engineering of Education Ministry, Changchun 130022, ChinaInstitute of Spacecraft System Engineering, CAST: China Academy of Space Technology, Beijing 100094, ChinaInstitute of Spacecraft System Engineering, CAST: China Academy of Space Technology, Beijing 100094, ChinaKey Laboratory for Bionics Engineering of Education Ministry, Changchun 130022, ChinaThe assessment of trafficability for planetary rovers in relation to non-geometric hazards is a crucial issue in deep space exploration. This study relies on terramechanics theory and incorporates actual data from Mars soil and rover parameters to develop a model that accurately represents the interaction between the rover’s wheels and Martian soil. Through numerical simulations, this model specifically investigates the relationship between the current of the rover’s wheel drive motor and factors such as slip ratio, soil pressure parameters, and soil shear parameters. Terrestrial experiments are also conducted to verify the precision of certain numerical calculations. The proposed wheel–soil interaction model, based on wheel motor current, provides a foundation for assessing non-geometric trafficability and the inversion of planetary soil parameters.https://www.mdpi.com/2226-4310/11/11/892planetary rovertrafficabilityelectric currentterramechanicswheel–soil interaction |
| spellingShingle | Yan Shen Meng Zou Hongtao Cao Dong Pan Baofeng Yuan Lianbin He Current-Based Analysis and Validation of a Wheel–Soil Interaction Model for the Trafficability of a Planetary Rover Aerospace planetary rover trafficability electric current terramechanics wheel–soil interaction |
| title | Current-Based Analysis and Validation of a Wheel–Soil Interaction Model for the Trafficability of a Planetary Rover |
| title_full | Current-Based Analysis and Validation of a Wheel–Soil Interaction Model for the Trafficability of a Planetary Rover |
| title_fullStr | Current-Based Analysis and Validation of a Wheel–Soil Interaction Model for the Trafficability of a Planetary Rover |
| title_full_unstemmed | Current-Based Analysis and Validation of a Wheel–Soil Interaction Model for the Trafficability of a Planetary Rover |
| title_short | Current-Based Analysis and Validation of a Wheel–Soil Interaction Model for the Trafficability of a Planetary Rover |
| title_sort | current based analysis and validation of a wheel soil interaction model for the trafficability of a planetary rover |
| topic | planetary rover trafficability electric current terramechanics wheel–soil interaction |
| url | https://www.mdpi.com/2226-4310/11/11/892 |
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