Analysis of a resistance force for the locked-wheel of push-pull locomotion rovers using large subsidence |
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| Affiliation: | 1. Kharkiv Petro Vasylenko National Technical University of Agriculture, Kharkiv, Ukraine;2. South Ural State Agrarian University, Troitsk, Russia;3. South Ural State University (National Research University), Chelyabinsk, Russia;4. PRO FERRUM Limited Liability Company, St. Petersburg, Russia;5. Belgorod State Agricultural University, Mayskiy, Belgorod Region, Russia;6. Saint Petersburg State Forest Technical University named after S.M. Kirov, St. Petersburg, Russia;7. Novosibirsk State Agrarian University, Novosibirsk, Russia;8. Siberian Federal Scientific Center of Agro-BioTechnologes of the Russian Academy of Sciences, Krasnoobsk, Novosibirsk Region, Russia;9. Kurgan State Agricultural Academy by T S Maltsev, Village Lesnikovo, Ketovsky District, Kurgan Region, Russia;1. University of Sidi Mohammed Ben Abdellah, Department of Physics, Faculty of Sciences Dhar El Mehraz, LISAC, BP 1796, Fes-Atlas, Morocco;2. University of Sidi Mohammed Ben Abdellah, Engineering, Systems and Applications Laboratory, National School of Applied Sciences (ENSA), Fez, Morocco;1. Department of Biosystems Machinery Engineering, Chungnam National University, Daejeon 34134, Republic of Korea;2. Department of Smart Agriculture Systems, Chungnam National University, Daejeon 34134, Republic of Korea;3. Smart Agricultural Machinery R&D Group, Korea Institute of Industrial Technology (KITECH), Gimje 54325, Republic of Korea;4. Reliability Test Team, TYM ICT Co. Ltd., Gongju 32530, Republic of Korea;5. Department of Rural and Biosystems Engineering, Chonnam National University, Gwangju 61186, Republic of Korea;6. Department of Bio-Industrial Machinery Engineering, Kyungpook National University, Daegu 41566, Republic of Korea;7. Department of Bio-Mechatronic Engineering, Sungkyunkwan University, Suwon 16419, Republic of Korea;1. School of Mechanical, Aerospace and Automotive Engineering, Coventry University, Coventry CV1 2JH, United Kingdom;2. Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, QC H3G 1M8, Canada;3. Department of Mechanics, Mathematics & Management, Polytechnic of Bari, Via Orabona 4, 70125 Bari, Italy |
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| Abstract: | This paper provides a quantitative analysis of the resistance force of the locked-wheel for push-pull locomotion rovers using intentional sinkage. Our previous study has confirmed that push-pull locomotion using intentional subsidence at an initial position can contribute to improving the traveling performance. The key factor of this scheme is the resistance force of the locked-wheel. However, the resistance force at different sinkage conditions and wheel sizes (e.g., mass, width, and diameter) remains unclear, especially for the individual locked-wheel. The detailed investigation of this interaction can contribute to the accurate estimation of rover mobility. This paper, therefore, investigates the locked-wheel and soil interaction at different sinkage conditions experimentally, especially focusing on the intentional sinkage condition. Additionally, the resistance force is considered theoretically through the knowledge based on the soil flow patterns beneath the locked-wheel. The experimental results confirmed that the resistance force of the locked-wheel rose as the initial sinkage, wheel size, and weight increases. Furthermore, the theoretical calculation suggested the resistance force increased with a similar tendency of the experimental data. |
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| Keywords: | Push-pull locomotion Resistance force Loose soil Locked-wheel 00-01 99-00 |
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