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Discrete element method (DEM) is getting a wider use in granular media study. It is a fundamental of lunar soil DEM study that matching the micromechanical parameters of lunar soil simulant with its macro parameters. In this paper, the matching work is carried out by simulating triaxial test applying PFC3D software, and the constitutive model is a parallel-bonded (PB) model to match the physical characteristics...
Rovers that are used to explore craters on the Moon or Mars require the mobility to negotiate sandy slopes, on which slippage can easily occur. Such slippage can be reduced by actively readjusting the attitude of the rovers. By changing attitude, rovers can modify the position of their center of gravity and the wheel-soil contact angle. In this study, we discuss the effects of attitude changes on...
Planetary rovers play a significant role in surface explorations on the Moon and/or Mars. However, because of wheel slippage, the wheels of planetary rovers can get stuck in loose soil, and the exploration mission may fail because of this situation. To avoid slippage and increase the wheels' drawbar pull, the wheels of planetary rovers typically have parallel fins called lugs on their surface. In...
Future lunar exploration requires rovers to understand lunar environment and terrain characteristic. In order to assess the traction traversability of a lunar rover, it is necessary to make terrain parameter estimation with lunar rover's traveling information. The online estimation methods of terrain parameter attract increasing attention because of its rapidness and effectiveness. Taking full account...
It is important to evaluate the behavior of rover on the moon. An experiment was conducted in an indoor soil bin for obtaining necessary data on the interaction between rigid-wheel and soft terrain so as to investigate the pressure-sinkage characteristics of the simulant lunar soil. A series of pressure-sinkage models are discussed of which the parameters were fitted based on the measured data from...
As space exploration progresses, renewed attention has been given to advanced lunar exploration technologies. The main objective is to address many open questions about the Moon, such as its origin or chemical components, as most of the current hypotheses are just inferences based on limited evidences. Unmanned subsurface investigation technologies for the moon are of special significance for future...
Lunar rovers are required to move on rough terrains such as in craters and rear cliffs where it is scientifically very important to explore. Recently, wheel typed rovers are popular for planetary exploration missions. However, there is a problem that the wheel typed rovers have possibility of stack. Therefore, this paper investigates a mechanism of kinetic behavior between the wheels of the exploration...
In this paper, a trafficability analysis for the exploration rover is described. A rover traveling on loose terrain often experiences its slippages (wheel slips or vehicle sideslip), and in particular, these slips become larger when the rover traverses on sandy slopes. The authors have investigated traction mechanics of a rigid wheel of the rover on loose terrain with paying attention to slipping...
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