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

Rodríguez-Martínez, David and Buse, Fabian and Van Winnendael, M. and 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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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.

Item URL in elib:https://elib.dlr.de/128403/
Document Type:Conference or Workshop Item (Speech)
Title:The Effects of Increasing Velocity on the Tractive Performance of Planetary Rovers
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Rodríguez-Martínez, DavidTohoku UniversityUNSPECIFIEDUNSPECIFIED
Buse, FabianUNSPECIFIEDhttps://orcid.org/0000-0002-2279-5735UNSPECIFIED
Van Winnendael, M.ESA-ESTEC, Keplerlaan 1, 2200 Noordwijk, The NetherlandsUNSPECIFIEDUNSPECIFIED
Yoshida, KazuyaTohoku University, Sendai, JapanUNSPECIFIEDUNSPECIFIED
Date:September 2019
Journal or Publication Title:15th ISTVS European-African Regional Conference
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Planetary Robotics, Wheeled Robots, High-speed, Off-road Locomotion, Mobility Performance, Tractive Efficiency, Wheel Design, Soil Interaction
Event Title:15th ISTVS European-African Regional Conference
Event Location:Prague, Czech Republic
Event Type:international Conference
Event Dates:8-11 Sept. 2019
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Project MOREX [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Deposited By: Buse, Fabian
Deposited On:12 Jul 2019 10:44
Last Modified:29 Mar 2023 00:42

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