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Proceedings Paper

Mobility performance analysis of an innovation lunar rover with diameter-variable wheel
Author(s): Gang Sun; Feng Gao; Peng Sun; Guoyan Xu
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Paper Abstract

To achieve excellent mobility performance, a four-wheel, all-wheel drive lunar rover with diameter-variable wheel was presented, the wheel can be contracted and extended by the motor equipped in the wheel hub, accompanied with wheel diameter varying from 200mm to 390mm. The wheel sinkage and drawbar pull force were predicated with terramechanics formulae and lunar regolith mechanic parameters employed, furthermore, the slope traversability was investigated through quasi-static modeling mechanic analysis, also the obstacle resistance and the maximum negotiable obstacle height for different wheel radius were derived from the equations of static equilibrium of the rover. Analysis results show that for the innovation lunar rover presented, it will bring much better slope traveling stability and obstacle climbing capability than rovers with normal wheels, these will improve the rover mobility performance and stabilize the rover's frame, smooth the motion of sensors.

Paper Details

Date Published: 10 November 2007
PDF: 6 pages
Proc. SPIE 6795, Second International Conference on Space Information Technology, 67954R (10 November 2007); doi: 10.1117/12.774989
Show Author Affiliations
Gang Sun, Beijing Univ. of Aeronautics and Astronautics (China)
Feng Gao, Beijing Univ. of Aeronautics and Astronautics (China)
Peng Sun, Beijing Univ. of Aeronautics and Astronautics (China)
Guoyan Xu, Beijing Univ. of Aeronautics and Astronautics (China)


Published in SPIE Proceedings Vol. 6795:
Second International Conference on Space Information Technology

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