Abstract
The resistance force generated when the locked-wheel acts on the soil is critical for deciding the traveling performance of push–pull locomotion. The resistance force depends on the tangential force of the sliding soil wedge beneath the wheel, and the tangential force depends on the forces of the soil and the wheel perpendicular to the tangential direction. Hence, the normal stress distribution of the locked-wheel can affect the resistance force. Previous studies indicated different insights that describe either a uniform or non-uniform shape of the normal stress distribution. The distribution of the locked-wheel still needs to be examined experimentally. This study measured the normal stress distribution using the wheel sensor system, and the variation of the contact area and slip surface beneath the wheel were also observed in PIV analysis. Those results showed that the normal stress distribution was non-uniform along the wheel contact area, and the change of the distribution was confirmed with the change of the contact area and slip surface. Then, the resistance force calculated by a preliminary model based on the measured data was compared with the total resistance force of the wheel measured by a separate sensor. This comparison provided a theoretical consideration for the measured data.
Highlights
Autonomous traveling for planetary exploration rovers on loose soil requires information about the wheel–soil interaction
We calculated the resistance force of the locked-wheel based on experimental data through the preliminary model, and the calculated values were compared with experimental data as a theoretical consideration
The distribution changed depending on sinkage and sinking direction with the changing of the slip surface and contact area
Summary
Autonomous traveling for planetary exploration rovers on loose soil requires information about the wheel–soil interaction. Push-pull locomotion is a unique scheme which uses locomotion while the wheels are locked on ground and it supports the repositioning of other wheels, like an inchworm; good traveling performance has been demonstrated on loose soil [1,2,3,4]. The investigation of the phenomenon between each locked-wheel and soil for a wheel walking robot provided the relationship between the resistance force and sinkage [5]. That study indicated that the resistance force increases with increasing sinkage, and the stress distribution under the locked-wheel was uniform along the contact area. The soil flow analysis by particle image velocimetry (PIV) beneath the locked-wheel indicated the different phenomenon
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
