No abstract

No abstract

Abstract-New articulated planetary rovers offer alternative locomotion modalities beyond conventional rolling wheel mobility.12 These new modalities should be explored to overcome the limitations of traditional rolling mobility, and expand the areas of planetary surfaces amenable to exploration. The topic of this study is a hybrid push-roll locomotion mode called inching. Static (non-rolling) wheels are used in conjunction with the rolling wheels of a vehicle in order to increase net traction potential. Preliminary experiments have shown an approximate doubling in drawbar pull for the inching locomotion mode relative to pure rolling. This improvement is not accounted for by reductions to wheel motion resistance alone, and furthermore evidence is provided that static wheels are capable of reacting more ground thrust than rolling wheels. Further investigations using a transparent soil tank, and novel image processing techniques, reveal key differences in the soil shear failure interface under rolling and static wheels. For the cases studied, static wheels generated much deeper and more unified soil failure masses than rolling wheels. Further investigation is recommended to clarify the physics of these thrust development processes, and ultimately to populate the vehicle design space for inching locomotion.

Rover-mounted geotechnical systems are of paramount importance to lunar trafficability assessment, construction, and excavation/mining toward establishing permanent human presence on the Moon. These tools can also be used to determine density, when the regolith is used as radiation shield, for example. Two popular insitu devices for establishing geotechnical properties of soil are the Static Cone Penetrometer (SCP) and Dynamic Cone Penetrometer (DCP). However, both systems have shortcomings that may prevent them from being robotically-deployed in a low gravity environment. In this paper we describe an alternative system, called the Percussive Dynamic Cone Penetrometer (PDCP) that can be used to roboticallymeasure geotechnical soil properties in a low gravity environment. It is shown that PDCP data correlates well with the data obtained from both SCP and DCP testing, and by extension with California Bearing Ratio (CBR) and soil bearing strength.