Mobility performance analysis of an innovation lunar rover with diameter-variable wheel

Gang Sun; Feng Gao; Peng Sun; Guoyan Xu

doi:10.1117/12.774989

10 November 2007 Mobility performance analysis of an innovation lunar rover with diameter-variable wheel

Gang Sun, Feng Gao, Peng Sun, Guoyan Xu

Proceedings Volume 6795, Second International Conference on Space Information Technology; 67954R (2007) https://doi.org/10.1117/12.774989
Event: Second International Conference on Spatial Information Technology, 2007, Wuhan, China

Abstract

To achieve excellent mobility performance, a four-wheel, all-wheel drive lunar rover with diameter-variable wheel was presented, the wheel can be contracted and extended by the motor equipped in the wheel hub, accompanied with wheel diameter varying from 200mm to 390mm. The wheel sinkage and drawbar pull force were predicated with terramechanics formulae and lunar regolith mechanic parameters employed, furthermore, the slope traversability was investigated through quasi-static modeling mechanic analysis, also the obstacle resistance and the maximum negotiable obstacle height for different wheel radius were derived from the equations of static equilibrium of the rover. Analysis results show that for the innovation lunar rover presented, it will bring much better slope traveling stability and obstacle climbing capability than rovers with normal wheels, these will improve the rover mobility performance and stabilize the rover's frame, smooth the motion of sensors.

Citation Download Citation

Gang Sun, Feng Gao, Peng Sun, and Guoyan Xu "Mobility performance analysis of an innovation lunar rover with diameter-variable wheel", Proc. SPIE 6795, Second International Conference on Space Information Technology, 67954R (10 November 2007); https://doi.org/10.1117/12.774989

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