Improved explicit-form equations for estimating dynamic wheel sinkage and compaction resistance on deformable terrain

Ding, Liang; HaiboGao,; YuankaiLi,; GuangjunLiu,; ZongquanDeng,

doi:10.1016/j.mechmachtheory.2014.12.011

Cited by 37 publications

(12 citation statements)

References 28 publications

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“…Once the wheel-related parameters b (width), D (diameter) and W (load) are known, the problem to determine the z o is reduced to the knowledge of the soil parameters k (sinkage modulus) and n (sinkage exponent), obtained directly from pressure-sinkage tests [30]. Other similar equations have been derived for static sinkage (e.g., Ding [31], Meirion et al [32]), although the magnitudes estimated do not vary much than that predicted by Eq. 1.…”

Section: Comparing Visual Sinkage Observations With Empirical Estimatmentioning

confidence: 99%

Improving Limitations of Rover Missions in the Moon and Planets by Unifying Vehicle–Terrain Interaction Models

Lopez-Arreguin

Montenegro

2020

Adv. Astronaut. Sci. Technol.

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This paper extends the analysis of empirical methods for describing vehicle-terrain interactions in lunar terrain. Given analytical formulation to predict mobility performance in extraterrestrial environments requires reliable in situ testing campaigns, this imposes fundamental restrictions to conceive a more consolidated theory, and further any possibility to use improved empirical methods to design better space hardware. Hence, we propose an analytical approach to extrapolate data taken in parabolic flights to model vehicle performance in multiple gravity regimes. The extrapolation technique and respective reported uncertainties can be used, therefore, to tune fitting parameters of a set of general formulas in the domain of Terramechanics, allowing to have empirical estimates of the wheel mobility in cases where testing is inherently very complex. Finally, by the analysis of previous Moon and Mars rover missions with the fitted equations, we report an empirical design criterion that allows to generate first estimates of the optimal wheel dimensions, taking into account the eventual longitudinal slip of the rover and including the desired mass of the payload. The introduced rules for geometry optimization can be important for future space rover missions in remote soils.

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Section: Comparing Visual Sinkage Observations With Empirical Estimatmentioning

confidence: 99%

Improving Limitations of Rover Missions in the Moon and Planets by Unifying Vehicle–Terrain Interaction Models

Lopez-Arreguin

Montenegro

2020

Adv. Astronaut. Sci. Technol.

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“…In this review, we neglect dynamic matters [30][31][32][33]: contacts [34,35], vibrations [36][37][38][39][40][41][42], deflections [43][44][45][46][47][48][49] and accuracy [50][51][52][53][54][55][56][57][58][59] of robot realization and mounting [60][61][62][63][64][65].…”

Section: + = R R R R R R + Bmentioning

confidence: 99%

Review on Land-Based Wheeled Robots

Rasam

2016

MATEC Web of Conferences

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Abstract. This paper presents an overview of the state of art of mobile robots presenting aspects of their current level of sophistication, fields mobile robots are being presently used, the future application and scope of mobile robots. Classifying the primary research topics of multi-robot systems into seven major categories (Biological inspirations, architecture, localization/mapping/exploration, object transport and manipulation, motion co-ordination, reconfigurable and learning robot systems, vision), we discuss the current state of research in these areas. An attempt to cover the points for which a general agreement has emerged within the scientific domain, are then presented, followed by a discussion of alternative approaches and currently unsolved problems. This paper also reviews the most relevant literature and previous research activity regarding mobile robotics. We conclude by identifying more topics of scientific consensus, open research issues and a discussion of some application areas where mobile robots could be used with existing technology.

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“…This paper mainly studies the smooth rigid wheel and the vertical load. According to our previous research [16,17], the shear stress of the smooth rigid wheel has almost no influence on the vertical load, and, thus, it can be ignored. Simplifying the equation for the vertical load, we can write…”

Section: Wheel-terrain Interaction Mechanics Modelmentioning

confidence: 99%

“…In this work, they describe = (cos − cos 1 ) , where the variable (dimensionless) is the equivalent sinkage modulus of the terrain, defined as = / + . Equation 10shows the simplified result of (6) [17]. Consider the following:…”

Section: Wheel-terrain Interaction Mechanics Modelmentioning

confidence: 99%

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Dynamic Modeling and Vibration Analysis for the Vehicles with Rigid Wheels Based on Wheel-Terrain Interaction Mechanics

Wang

Liu

Ding

et al. 2015

Shock and Vibration

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The contact mechanics for a rigid wheel and deformable terrain are complicated owing to the rigid flexible coupling characteristics. Bekker’s equations are used as the basis to establish the equations of the sinking rolling wheel, to vertical load pressure relationship. Since vehicle movement on the Moon is a complex and on-going problem, the researcher is poised to simplify this problem of vertical loading of the wheel. In this paper, the quarter kinetic models of a manned lunar rover, which are both based on the rigid road and deformable lunar terrain, are used as the simulation models. With these kinetic models, the vibration simulations were conducted. The simulation results indicate that the quarter kinetic model based on the deformable lunar terrain accurately reflects the deformable terrain’s influence on the vibration characteristics of a manned lunar rover. Additionally, with the quarter kinetic model of the deformable terrain, the vibration simulations of a manned lunar rover were conducted, which include a parametric analysis of the wheel parameters, vehicle speed, and suspension parameters. The results show that a manned lunar rover requires a lower damping value and stiffness to achieve better vibration performance.

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Improved explicit-form equations for estimating dynamic wheel sinkage and compaction resistance on deformable terrain

Cited by 37 publications

References 28 publications

Improving Limitations of Rover Missions in the Moon and Planets by Unifying Vehicle–Terrain Interaction Models

Improving Limitations of Rover Missions in the Moon and Planets by Unifying Vehicle–Terrain Interaction Models

Review on Land-Based Wheeled Robots

Dynamic Modeling and Vibration Analysis for the Vehicles with Rigid Wheels Based on Wheel-Terrain Interaction Mechanics

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