The Chang'e-6/7/8 exploration mission has been announced officially by China recently, and the international lunar and Mars research station plans will be carried out within the 2030s. It can be predicted that China's future lunar and Mars surface exploration activities will last longer, have a larger exploration range, and have a more complex terrain to traverse and explore, which will pose severe challenges to the working performance of the planet rover and its adaptability to the planet surface environment.
via integrations. In the contact model of a rigid wheel and stone, the nonlinear spring-damper model based on the Hertz contact theory is adopted to calculate the normal force between a solid and a solid.calculated by the Coulomb friction model and resistance momentThen, the authors elaborate two proposed models.
The relative positions of the contact points between the stone and the wheel slice in the wheel-soil interaction area. Credit:In residual soil model, the basic idea is to modify the integration area forto solve the interaction force between the wheel and remaining soil, when a moving wheel is in contact with a stone and soil at the same time.
Last, the authors carry out the simulation and the experiment to verify the proposed models. Wheel width is 14 cm. The wheel's diameter is 30 cm. The forward speed of the wheel is 0.03 m/s. The slip ratio is 0.3. The wheel is a uniform rectilinear motion along the positive X axis.
The traveling and rotating speeds are measured by the encoders 3 connected to the drive shafts. This study takes the Martian soil as the research object; thus, dry sand is selected as the soil and the topography is flat. The validity of the plastic homogeneous soil mechanics model and the residual soil model is verified by comparing the traction performance error of the rigid wheel in contact with different rocks in simulation and experiment.
The results show the following: 1) For the movable stones, the simulation results of sinkage, drawbar pull, and resistance moment are in good agreement with the experimental results, which verifies the effectiveness of the above-proposed models; 2) Compared with the fixed stone, it is distinct that the movement states of stones have an important impact on the wheel's traction performance.
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