Mechanical analysis and measurement of parameters of wheel -soil interaction for a lunar rover

Abstract

Mechanical models of the wheel-soil interaction are constructed for a rigid wheel of lunar rover when rolling and steering, based on the theories of terramechanics and passive earth pressure. The mechanical affect of different parameters of the soil to the rigid wheel is analysed, such as drawbar pull, rolling torque and steering torque. Experimental results of a rigid wheel in a kind of dry soil, whose mechanical parameters are some similar to lunar soil, validate the models correct. A novel test-bed and its data acquisition system are also designed for testing the performance of the wheel-soil interaction of lunar rover, and their key technologies concerned are discussed. © 2006 IOP Publishing Ltd.