Current-Based Analysis and Validation of a Wheel–Soil Interaction Model for the Trafficability of a Planetary Rover DOI Creative Commons

Yan Shen,

Meng Zou, Hong‐Tao Cao

et al.

Aerospace, Journal Year: 2024, Volume and Issue: 11(11), P. 892 - 892

Published: Oct. 30, 2024

The assessment of trafficability for planetary rovers in relation to non-geometric hazards is a crucial issue deep space exploration. This study relies on terramechanics theory and incorporates actual data from Mars soil rover parameters develop model that accurately represents the interaction between rover’s wheels Martian soil. Through numerical simulations, this specifically investigates relationship current wheel drive motor factors such as slip ratio, pressure parameters, shear parameters. Terrestrial experiments are also conducted verify precision certain calculations. proposed wheel–soil model, based current, provides foundation assessing inversion

Language: Английский

Mechanical model building of bionic walking robot in motion with soft terrain DOI
Zhen Chen,

Meng Zou,

Jie Huang

et al.

Journal of Terramechanics, Journal Year: 2025, Volume and Issue: 119, P. 101059 - 101059

Published: May 2, 2025

Language: Английский

Citations

0
Study on the Influence of Rigid Wheel Surface Structure on the Trafficability of Planetary Rover on Soft Ground DOI Creative Commons

Xinju Dong,

Jingfu Jin, Zhicheng Jia

et al.

Aerospace, Journal Year: 2025, Volume and Issue: 12(4), P. 305 - 305

Published: April 3, 2025

In order to explore the influence of wheel surface structure on trafficability planetary rovers soft ground, three kinds wheels with different rigid structures were selected for research. The basic performance parameters simulated soil are measured and tested law wheel’s sinkage, slip rate traction coefficient. results show that grouser increases sinkage wheel. tread reduces wheel, but it also at a higher rate. Considering complex working conditions rover six-wheeled three-rocker-arm is used carry out passability tests in terrains: obstacle crossing, climbing. grousers can cause disturbance damage have significant passing advantages. There may be phenomenon when crossing obstacle, does not affect passing. completely closed will accumulation between grouser, affecting ability escape sinkage. This study provides reference design from perspective performance.

Language: Английский

Citations

0
Design and passability study of soil-plowing wheel facing soft terrain DOI

Xinju Dong,

Jingfu Jin, Zhicheng Jia

et al.

Journal of Terramechanics, Journal Year: 2024, Volume and Issue: 117, P. 101002 - 101002

Published: Aug. 27, 2024

Language: Английский

Citations

2
Real‐Time Heading Correction Control for Mars Rovers Considering Travel Terrain Differences Between Two Sides of the Suspension DOI
Zhicheng Jia,

Jingfu Jin,

Xinju Dong

et al.

Journal of Field Robotics, Journal Year: 2024, Volume and Issue: unknown

Published: Oct. 3, 2024

ABSTRACT Existing Mars rovers usually adopt a split suspension with rocker‐bogie on each side of the body to improve terrain adaptability. However, when exploring Martian surface complex distribution, differential traveling conditions wheel sets both sides can cause rover deviate from its desired heading. This paper presents coordinated speed control method for that combines fuzzy active disturbance rejection control. realize real‐time heading correction while compensating effects differences in shape and type sides. Another advantage proposed is system does not rely motion model rover's avoids acquisition attitude data, which improves algorithm efficiency portability. Finally, series experimental tests multiterrain travel were conducted six‐wheeled prototype deploying system. The results show effectively guarantee tracks traveling, obtain beneficial reducing internal force between wheels facing some special driving scenes.

Language: Английский

Citations

1
A Kinematics-Based Optimization Design for the Leg Mechanism of a Novel Earth Rover DOI
Yifan Wu, Sheng Guo,

Lianzheng Niu

et al.

Journal of Mechanical Design, Journal Year: 2024, Volume and Issue: 146(9)

Published: Jan. 24, 2024

Abstract This paper proposes a general kinematic-based design method for optimizing the side-mounted leg mechanism of BJTUBOT, novel multi-mission quadrupedal Earth rover. The focus issue lies in designing structural improvements that not only enhance its kinematic performance but also prevent singularity, all while meeting demands miniaturization and lightweight without deviating from original concept. To solve this issue, 3-UPRU&PPRR is envisaged based on configuration. Around unique features mechanism, inverse solution Jacobian matrix are calculated, coupled motion relation between key limb moving platform (MP) presented. In order to achieve singularity avoidance, some typical configurations line geometry analysis given. accordance with result, an initial configuration multi-objective dimensional optimization further performance, we introduce use GCI (global conditional index) at extreme positions as one criteria NSGA-II (Non-dominated Sorting Genetic Algorithm) algorithm, directly measuring crowding distance using position vector U (universal) joints platform. optimized prototype demonstrated single-leg Adams simulation, which exhibits good velocity mapping effects displacement accuracy. Finally, new BJTUBOT was constructed leg, flexibility tested various classical forms motions. workflow significantly improves under current needs.

Language: Английский

Citations

0
Study on the mechanical model of footpad-terrain for walking robot moving in low gravity environment DOI
Zhen Chen, Meng Zou, Lining Chen

et al.

Journal of Terramechanics, Journal Year: 2024, Volume and Issue: 113-114, P. 100970 - 100970

Published: March 19, 2024

Language: Английский

Citations

0
Design and application of a vehicle robot to FAST reflector surface DOI

Lichun Zhu,

Zhiqian Jiang,

Long Qiao

et al.

Industrial Robot the international journal of robotics research and application, Journal Year: 2024, Volume and Issue: unknown

Published: July 29, 2024

Purpose This paper aims to introduce a wheeled vehicle robot for adapting the surface terrain of 500-m diameter reflector FAST radio telescope in China. Design/methodology/approach By analyzing vehicles applied different off-road environments, six-wheeled architecture with passive “triple-bogie” suspension is selected. A subscale model designed, along statics modeling and multibody simulations dynamics on simulated panel surfaces. The slope- step-climbing abilities are discussed accordance numerical experimental tests. An engineering scale subsequently manufactured tested terrains lateral as well vertical gaps, finally validated reflector. Findings exhibits strong structure stability under desired payload. It can stably cross gaps maximum slope 28° traverse gap 23°. traversing satisfy mobility requirements subjected Originality/value negotiates between triangle panels has been successfully serving inspection maintenance work.

Language: Английский

Citations

0
Current-Based Analysis and Validation of a Wheel–Soil Interaction Model for the Trafficability of a Planetary Rover DOI Creative Commons

Yan Shen,

Meng Zou, Hong‐Tao Cao

et al.

Aerospace, Journal Year: 2024, Volume and Issue: 11(11), P. 892 - 892

Published: Oct. 30, 2024

The assessment of trafficability for planetary rovers in relation to non-geometric hazards is a crucial issue deep space exploration. This study relies on terramechanics theory and incorporates actual data from Mars soil rover parameters develop model that accurately represents the interaction between rover’s wheels Martian soil. Through numerical simulations, this specifically investigates relationship current wheel drive motor factors such as slip ratio, pressure parameters, shear parameters. Terrestrial experiments are also conducted verify precision certain calculations. proposed wheel–soil model, based current, provides foundation assessing inversion

Language: Английский

Citations

0