| Title |
Experimental Analysis of Lunar Rover Wheel's Mobility Performance Depending on Soil Condition and Wheel Configuration |
| Authors |
왕성찬(Wang, Cheng-Can) ; 김석중(Kim, Seok-Jung) ; 한진태(Han, Jin-Tae) |
| DOI |
https://doi.org/10.12652/Ksce.2017.37.4.0693 |
| Keywords |
달 탐사 로버;지반조건;인공월면토;그라우저;단일 휠 실험장비 Lunar exploration rover;Soil condition;KLS-1;Grouser;Single wheel testbed |
| Abstract |
Rover wheel's mobility depends on soil's condition and wheel's design. The purpose of this study is to evaluate the effect of soil conditions, which are Jumunjin sand and Korean lunar soil simulant (KLS-1), on wheel's motion performance. The experiments were performed by using a single wheel testbed with a wheel which grouser height is 15mm on Jumunjin sand and KLS-1, respectively. Also the influence of grouser length to wheel's mobility performance was studied. The experimental results of torque, drawbar pull and sinkage relating to slip ratio were discussed and analyzed to evaluate wheel's motion performance. Results showed wheel moving on KLS-1 has high performance than Jumunjin sand. Wheel's mobility performance was influenced by soil's properties of cohesion and frictional angle. In addition, wheel's performance of drawbar pull and Torque increased with the increasing of grouser length. |