Longitudinal skid model for wheels of planetary rovers based on improved wheel sinkage considering soil bulldozing effect |
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| Institution: | 1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China;2. Mechanical Engineering, University of Michigan, Ann Arbor 48109, USA;1. Key Laboratory of Bionic Engineering (Ministry of Education, China), Jilin University, Changchun 130022, China;2. Institute of Spacecraft System Engineering CAST, Beijing 100094, China;1. Key Laboratory for Bionics Engineering of Education Ministry, Jilin University, Changchun 130022, China;2. School of Mechatronic Engineering, East China Jiaotong University, Nanchang 330045, China;3. Aerospace System Engineering Shanghai, Shanghai 201108, China;1. Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, PR China;2. China Academy of Space Technology, Beijing 100094, PR China;1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China;2. Mechanical Engineering, University of Michigan, Ann Arbor 48105, USA |
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| Abstract: | To successfully deploy a wheeled mobile robot on deformable rough terrains, the wheel-terrain interaction mechanics should be considered. Skid terramechanics is an essential part of the wheel terramechanics and has been studied by the authors based on the wheel sinkage obtained using a linear displacement sensor that does not consider soil bulldozing effect. The sinkage measured by a newly developed wheel via detecting the entrance angle is about 2 times of that measured by the linear displacement sensor. On the basis of the wheel sinkage that takes the soil bulldozing effect into account, a linear function is proposed to the sinkage exponent. Soil flow in the rear region of wheel-soil interface is considered in the calculation of soil shear displacement, and its average velocity is assumed to be equal to the tangential velocity component of the transition point of shear stress. To compute the normal stress in the rear region directly, the connection of the entrance and leaving points is supposed as the reference of wheel sinkage. The wheel performance can be accurately estimated using the proposed model by comparing the simulation results against the experimental data obtained using two wheels and on two types of sands. |
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| Keywords: | Terramechanics Wheeled mobile robots Longitudinal skid model Soil bulldozing effect Sinkage exponent |
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