Longitudinal skid model for wheels of planetary exploration rovers based on terramechanics

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

“…However, wheel Wh31 showed a smaller sinkage than wheel Wh34 when the wheels were skidding as the lugs can both sustain the wheel and move the soil forward. More results (different wheel dimensions, lug heights, lug numbers) of wheel sinkage and interaction mechanics can be found in [30,37]. In Fig.…”

“…(34) and (37) should be simplified; the angle and triangular functions should be expressed as functions of the wheel sinkage.…”

Multi-vehicle convoy mobility in severe terrain conditions: Factor impact analysis, estimation and control strategy

“…In Wong and Kobayaski (2012), it was observed that the gravity has little effect on the slip and sinkage relationship. The sinkage significantly increases when the longitudinal skid (tire slippage) is greater than 0.3 for a planet rover (Gao et al, 2013). Sheering of the soil increases the tire-sinkage (Soltynski, 1965), and soil horizontal deformation increases about 60% beginning at 33% slippage on some terrains (Lyasko, 2010).…”

Longitudinal slip versus skid of planetary rovers' wheels traversing on deformable slopes

“…Equations of predicting the stresses for driving wheels in the slip condition have been researched intensively [22,24], but the research on stresses distribution for driving wheels in the skid condition is preliminary [21,26]. Fig.3 shows the forces and moments that act on a driving wheel by the soil, vehicle body, and driving motor, while it climbs up a slope with slip or moves down a slope with skid, where F N denotes the equivalent normal force, and F DP denotes the drawbar pull.…”

“…Thus they provided an equation to predict the skid mechanics according to the slip mechanics by using compensated terms [20]. Gao et al deduced an empirical model [21] to predict the skid mechanics for planetary rovers' driving wheels based on the model for towed wheels of conventional terrestrial vehicles developed by Wong and Reece [22].…”