Current-Based Analysis and Validation of a Wheel-Soil Interaction Model for the Trafficability of a Planetary Rover

被引：0

作者：

Shen, Yan ^{[1
]}

Zou, Meng ^{[1
]}

Cao, Hongtao ^{[1
]}

Pan, Dong ^{[2
]}

Yuan, Baofeng ^{[2
]}

He, Lianbin ^{[1
]}

机构：

[1] Educ Minist, Key Lab Bion Engn, Changchun 130022, Peoples R China

[2] CAST China Acad Space Technol, Inst Spacecraft Syst Engn, Beijing 100094, Peoples R China

来源：

AEROSPACE | 2024年 / 11卷 / 11期

关键词：

planetary rover; trafficability; electric current; terramechanics; wheel-soil interaction; SLIPPAGE; PREDICTION; DEPOSITS; SINKAGE;

D O I：

10.3390/aerospace11110892

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

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.

引用

页数：23

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