In-situ evaluation of terrain mechanical parameters and wheel-terrain interactions using wheel-terrain contact mechanics for wheeled planetary rovers

被引：18

作者：

Guo, Junlong ^{[1
]}

Guo, Tianyou ^{[2
]}

Zhong, Ming ^{[1
]}

Gao, Haibo ^{[1
]}

Huang, Bo ^{[1
]}

Ding, Liang ^{[1
]}

Li, Weihua ^{[1
,2
]}

Deng, Zongquan ^{[1
]}

机构：

[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Peoples R China

[2] Univ Michigan, Mech Engn, Ann Arbor, MI 48109 USA

来源：

MECHANISM AND MACHINE THEORY | 2020年 / 145卷

基金：

中国国家自然科学基金;

关键词：

Wheeled planetary rover; New reference of wheel sinkage; In-situ evaluation of terrain parameters; In-situ evaluation of wheel-terrain interactions; LONGITUDINAL SKID MODEL; SOIL-METAL FRICTION; EXPLORATION ROVERS; MOBILE ROBOTS; SHEAR-STRENGTH; SINKAGE; SLIP; MARS; VEHICLES;

D O I：

10.1016/j.mechmachtheory.2019.103696

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Physical space exploration missions usually include exploring craters that are composed of various slopes and covered with fine regolith. Wheeled mobile robots (WMRs), commonly known as rovers, are widely used in these missions to find a host of information on topography, mineralogy, geological processes, etc. In traditional terramechanics theories, at least seven experiments under various slip ratios are required to estimate the terrain parameters and drawbar pull that determines a WMR's slope climbing capability. Moreover, the wheel sinkage-an important index that indicates whether the fine and soft planetary regolith would become a dangerous trap-cannot be estimated in-situ currently. In this paper, highly coupled terramechanics equations are simplified into closed-form analytical models, whose effectiveness is experimentally validated after wheels enter quasi-static conditions. Based on these validated equations, the goal of in-situ estimation of terrain parameters, drawbar pull, and wheel sinkage can be accomplished by directly measuring physically measureable quantities. Thus, wheeled rovers will have the ability to perceive the planetary regolith's mechanical properties and the wheels' running condition by mounting an instrumental wheel that contains a rotation force/torque sensor. (C) 2019 Elsevier Ltd. All rights reserved.

引用

页数：20