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The purpose of this study is to analyze the performance of a lugged wheel for a lunar micro rover on sloped terrain by a 2D discrete element method (DEM), which was initially developed for horizontal terrain. To confirm the applicability of DEM for sloped terrain locomotion, the relationships of slope angle with slip, wheel sinkage and wheel torque obtained by DEM, were compared with experimental results measured using a slope test bed consisting of a soil bin filled with lunar regolith simulant. Among the lug parameters investigated, a lugged wheel with rim diameter of 250 mm, width of 100 mm, lug height of 10 mm, lug thickness of 5 mm, and total lug number of 18 was found, on average, to perform excellently in terms of metrics, such as slope angle for 20% slip, power number for self-propelled point, power number for 15-degree-slope and power number for 20% slip. The estimation of wheel performance over sloped lunar terrain showed an increase in wheel slip, and the possibility exists that the selected lugged wheel will not be able to move up a slope steeper than 20 degrees.

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