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《Journal of Beijing University of Aeronautics and Astronautics》 2007-12
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Analysis of traction trafficability of diameter-variable wheel for planetary rover

Sun Peng Gao Feng Li Wen Sun Gang(Dept.of Automobile Engineering,Beijing University of Aeronautics and Astronautics,Beijing 100083,China)  
A planetary rover with diameter-variable wheels was represented which has advantages of compact structure,good climbing obstacle capability,low gravity center,and traveling stability.In consideration of lunar gravity environment and mechanical property of lunar regolith,the interaction between diameter-variable wheel and lunar regolith was analyzed by means of Bekker equation of terramechanics.The extended wheel model and sinkage were simplified,and the drawbar pull,driven torque,as well as driven efficiency of rover wheel were calculated under different slip conditions.The analytical result shows that the extended wheel reduces the bulldozing resistance,the drawbar pull and driven efficiency increase compared with that of folded wheel configuration.The range of slip for maximal driven efficiency has been obtained.
【CateGory Index】: V476.4
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