Performance evaluation of a wire mesh wheel on deformable terrains

Huang, Hei Jen; Li, Jianqiao; Chen, Baichao; Wu, Baoguang; Zou, Meng

doi:10.1016/j.jterra.2016.09.003

Cited by 12 publications

(12 citation statements)

References 11 publications

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“…By contrasting the real sinkage of the rear wheel and its apparent sinkage, we find that the changes in how they vary with slip ratio are similar, meaning their relationship is linear and is consistent with the results mentioned in Huang et al. 5 The sinkage model for the rear wheel related to the apparent sinkage can be written as where d 0 and d 1 are the model fitting coefficients; their values are obtained from the test data in the “Real sinkage” and “Apparent sinkage” sections and listed in Table 7. The correlation coefficient R 2 values of equation (20) are not less than 0.91.…”

Section: Sinkage Analysissupporting

confidence: 91%

“…This study focuses on the real sinkage z of the wheel (distinguished from apparent sinkage z a based on the rut), slip ratio s , and the characteristic parameters of rut (including the apparent sinkage z a and apparent slip ratio s a ) based on soil bin tests of the scaling model rover. The tests were carried out in the wheel–soil interaction testbed, 5 where the trolley has been removed and the laser scanner device has been retained. Experiment indices include wheel real sinkage z , slip ratio s , apparent sinkage z a , and apparent slip ratio s a .…”

Section: Methodsmentioning

confidence: 99%

“…The model rover is equipped with a rocker-bogie suspension system, which is combined with a differential mechanism and four rocker arms. The rover has six wire mesh wheels 5 with a diameter of 150 mm and a width of 75 mm. To decrease the weight of the model rover, the wheel is made by 3D printing with acrylonitrile butadiene styrene (ABS) plastic.…”

Section: Scaling Model Rovermentioning

confidence: 99%

“…[1][2][3][4] Rut images derived from on-orbit rovers contain some reliable wheel-soil interaction parameters, including apparent sinkage and apparent slip ratio. 5 By accurately measuring these characteristic parameters in real time, ground controllers can perform new path planning for the rover when the wheel experiences large sinkage to avoid the wheel getting stuck in the soil.…”

Section: Introductionmentioning

confidence: 99%

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The sinkage characteristics and prediction of a planetary rover based on a similarity model experiment

Huang

Zou

et al. 2018

Proceedings of the Institution of Mechanical Engineers, Part G:

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The environment on an extraterrestrial planet is complex, with soft surfaces and low gravity, which make it easy for rovers to sink and skid. Excessive sinkage may occur under large slip conditions of probe rovers and could influence the survey mission. Predicting the sinkage performance of wheels under slip conditions is important for the development and performance evaluation of exploration rovers. This paper presents a dimensional analysis on the main parameters of the wheel–soil interaction system; the analysis was performed based on the similarity law, for which corresponding similar scale values were obtained. Referring to the lunar surface gravity environment, we have produced a 1/2 scaling model rover. To investigate the sinkage characteristics of the model rover, tests were performed with different wheel loads (5 N, 7 N, and 9 N) and soil states (loose, natural, and compact). The characteristic parameters of a rear wheel rut were also analyzed, including rut depth (hereinafter referred to as apparent sinkage) and slip ratio (hereinafter referred to as apparent slip ratio). Experimental results were analyzed to evaluate the sinkage characteristics and to draw conclusions. Sinkage models for the rover under different soil states were proposed, and verification and error analyses for the sinkage models were conducted using indices such as the mean relative error and root mean squared error. The experimental results and conclusions are useful for optimal rover design and improvement/verification of wheel–soil interaction mechanics models.

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Section: Sinkage Analysissupporting

confidence: 91%

Section: Methodsmentioning

confidence: 99%

Section: Scaling Model Rovermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

The sinkage characteristics and prediction of a planetary rover based on a similarity model experiment

Huang

Zou

et al. 2018

Proceedings of the Institution of Mechanical Engineers, Part G:

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show abstract

“…Huang H. et al [5], carried out research work on performance of wire mesh wheel (WMW) on deformable terrains which includes the pressure-sinkage test (quasi-static) and its driving performance. Experiments were conducted using single wheel test bed for the wire mesh wheel with various loads and with different wheel velocities to investigate its sinkage characteristics of WMW type.…”

Section: State Of the Artmentioning

confidence: 99%