DocumentCode :
553883
Title :
Motion-control-based analytical model for wheel-soil interaction mechanics of lunar rover
Author :
Kerui Xia ; Liang Ding ; Haibo Gao ; Zongquan Deng
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Volume :
1
fYear :
2011
fDate :
22-24 Aug. 2011
Firstpage :
333
Lastpage :
338
Abstract :
During rover lunar exploration missions (such as China´s “Chang´e”), rovers are required to move autonomously on the loose lunar soil. Control methods based on the rigidity hypothesis can hardly be expected to satisfy these requirements practically so wheel-soil interaction mechanics should be taken into account. The currently used integral model based on wheel-soil interaction mechanics, however, is complicated, and it cannot be directly applied to the design of a lunar rover´s controller. This paper presents a new simplified method of determining the wheel-soil interaction of lunar rovers by introducing a normal stress factor and the ratio of the forward region to the rear region, based on an analysis of the integral model and lunar soil parameters. As an example, numerical analysis is performed for a lunar rover wheel with a width of 165 mm and a radius of 135 mm. Based on a slip ratio as high as 0.4 and an entrance angle that varies from 10° to 40°, the results show that the maximum errors of the model for the calculation of normal force and drawbar pull force are less than 2%, while the maximum error of resistance torque is approximately 5%. When designing a rover´s controller, the relationship between the driving torque of wheel T and the drawbar pull of wheel FDP is T = FDPr according to the rigidity hypothesis, a relationship that contradicts the terramechanics model. The proposed simplified model, which is verified by experiments, provides an important basis for the design of a control algorithm for a lunar rover that takes into account lunar wheel-soil interaction mechanics.
Keywords :
motion control; numerical analysis; planetary rovers; shear modulus; torque; wheels; drawbar pull; integral model; loose lunar soil; lunar rover wheel; lunar soil parameters; motion control-based analytical model; normal stress factor; numerical analysis; resistance torque; rigidity hypothesis; rover controller design; rover lunar exploration mission; terramechanics model; wheel-soil interaction mechanics; Analytical models; Force; Moon; Soil; Stress; Torque; Wheels; lunar exploration; motion control; simplified model; terramechanics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Strategic Technology (IFOST), 2011 6th International Forum on
Conference_Location :
Harbin, Heilongjiang
Print_ISBN :
978-1-4577-0398-0
Type :
conf
DOI :
10.1109/IFOST.2011.6021034
Filename :
6021034
Link To Document :
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