ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Planetary rover's tractive performance model based on similarity theory
Received date: 2015-06-09
Revised date: 2015-07-25
Online published: 2015-08-05
Supported by
National Natural Science Foundation of China (51375199)
It is important to ensure reliable mobility performance and avoid excessive sinkage for planetary rover. Gravity acceleration on the moon and mars is about one-sixth and two-fifths of the earth, respectively; however, there are certain limitations to simulate low gravity environment on the earth. Therefore, based on similarity principle and terramechanics theory, we present a dimensional analysis on wheel-soil system. A scaling planetary rover has been developed, which is used for eliminating the equivalent influence of the low gravity in the ground experiments. Soil bin tests of the planetary rover are conducted on two different terrains, and the sinkage and tractive characteristics of planetary model rover have also been analyzed. By combining the linearization approach on contact stress distribution between wheel and soil interface, a simplified drawbar pull model is established, which is related to the wheel sinkage and slip ratio. The model is validated through the soil bin testing data and results indicate that the proposed model has a higher accuracy in the mobility performance assessment, including wheel sinkage and drawbar pull.
HUANG Han , LI Jianqiao , DANG Zhaolong , WU Baoguang , ZOU Meng . Planetary rover's tractive performance model based on similarity theory[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2016 , 37(6) : 1974 -1982 . DOI: 10.7527/S1000-6893.2015.0217
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