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The Effects of Increasing Velocity on the Tractive Performance of Planetary Rovers

Rodríguez-Martínez, David und Buse, Fabian und Van Winnendael, M. und Yoshida, Kazuya (2019) The Effects of Increasing Velocity on the Tractive Performance of Planetary Rovers. In: 15th ISTVS European-African Regional Conference. 15th ISTVS European-African Regional Conference, 8-11 Sept. 2019, Prague, Czech Republic.

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Kurzfassung

An emerging paradigm is being embraced in the conceptualization of future planetary exploration missions. Ambitious objectives and increasingly demanding mission constraints stress the importance associated with faster surface mobility. Driving speeds approaching or surpassing 1 m/s have been rarely used and their effect on performance is today unclear. This study presents experimental evidence and preliminary observations on the impact that increasing velocity has on the tractive performance of planetary rovers. Single-wheel driving tests were conducted using two different metallic, grousered wheels —one rigid and one flexible— over two different soils, olivine sand and CaCO3-based silty soil. Experiments were conducted at speeds between 0.01–1 m/s throughout an ample range of slip ratios (5–90%). Three performance metrics were evaluated: drawbar pull coefficient, wheel sinkage, and tractive efficiency. Results showed similar data trends among all the cases investigated. Drawbar pull and tractive efficiency considerably decreased for speeds beyond 0.2 m/s. Wheel sinkage, unlike what published evidence suggested, increased with increasing velocities. The flexible wheel performed the best at 1 m/s, exhibiting 2 times higher drawbar pull and efficiency with 18% lower sinkage under low slip conditions. Although similar data trends were obtained, a different wheel-soil interactive behavior was observed when driving over the different soils. Overall, despite the performance reduction experienced at higher velocities, a speed in the range of 0.2–0.3 m/s would enable 5–10 times faster traverses, compared to current rovers driving capability, while only diminishing drawbar pull and efficiency by 7%. The measurements collected and the analysis presented here lay the groundwork for initial stages in the development of new locomotion subsystems for planetary surface exploration. At the same time, these data support the creation of velocity-dependent traction models required in the later stages of the development and subsequent operation of future, fast-moving planetary rovers.

elib-URL des Eintrags:https://elib.dlr.de/128403/
Dokumentart:Konferenzbeitrag (Vortrag)
Titel:The Effects of Increasing Velocity on the Tractive Performance of Planetary Rovers
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Rodríguez-Martínez, DavidTohoku UniversityNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Buse, FabianFabian.Buse (at) dlr.dehttps://orcid.org/0000-0002-2279-5735NICHT SPEZIFIZIERT
Van Winnendael, M.ESA-ESTEC, Keplerlaan 1, 2200 Noordwijk, The NetherlandsNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Yoshida, KazuyaTohoku University, Sendai, JapanNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Datum:September 2019
Erschienen in:15th ISTVS European-African Regional Conference
Referierte Publikation:Ja
Open Access:Nein
Gold Open Access:Nein
In SCOPUS:Nein
In ISI Web of Science:Nein
Status:veröffentlicht
Stichwörter:Planetary Robotics, Wheeled Robots, High-speed, Off-road Locomotion, Mobility Performance, Tractive Efficiency, Wheel Design, Soil Interaction
Veranstaltungstitel:15th ISTVS European-African Regional Conference
Veranstaltungsort:Prague, Czech Republic
Veranstaltungsart:internationale Konferenz
Veranstaltungsdatum:8-11 Sept. 2019
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Raumfahrt
HGF - Programmthema:Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Raumfahrt
DLR - Forschungsgebiet:R SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):R - Projekt MOREX [SY]
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Systemdynamik und Regelungstechnik > Raumfahrt-Systemdynamik
Hinterlegt von: Buse, Fabian
Hinterlegt am:12 Jul 2019 10:44
Letzte Änderung:29 Mär 2023 00:42

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