Analysis of a resistance force for the locked-wheel of push-pull locomotion rovers using large subsidence

Daisuke Fujiwara, Naoki Tsujikawa, Tetsuya Oshima, Kojiro Iizuka

研究成果: Article査読

抄録

This paper provides a quantitative analysis of the resistance force of the locked-wheel for push-pull locomotion rovers using intentional sinkage. Our previous study has confirmed that push-pull locomotion using intentional subsidence at an initial position can contribute to improving the traveling performance. The key factor of this scheme is the resistance force of the locked-wheel. However, the resistance force at different sinkage conditions and wheel sizes (e.g., mass, width, and diameter) remains unclear, especially for the individual locked-wheel. The detailed investigation of this interaction can contribute to the accurate estimation of rover mobility. This paper, therefore, investigates the locked-wheel and soil interaction at different sinkage conditions experimentally, especially focusing on the intentional sinkage condition. Additionally, the resistance force is considered theoretically through the knowledge based on the soil flow patterns beneath the locked-wheel. The experimental results confirmed that the resistance force of the locked-wheel rose as the initial sinkage, wheel size, and weight increases. Furthermore, the theoretical calculation suggested the resistance force increased with a similar tendency of the experimental data.

本文言語English
ページ(範囲)1-12
ページ数12
ジャーナルJournal of Terramechanics
94
DOI
出版ステータスPublished - 2021 4

ASJC Scopus subject areas

  • Mechanical Engineering

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