Abstract
For obtaining the optimal range of wheel slip for driving control and simulation of planetary rover, the experiments were conducted to analyze the effect of slip on tractive performance of different diameter and width rigid wheel in loose sand bin. All the tests were done at a free wheel sinkage in a single-wheel test bed. By the comparison of tractive performance between smooth wheel and the wheel with different straight grousers, drawbar pull and torque are observed to increase with slip up to a maximum value which is approached asymptotically, it indicates that the optimal range of slip is from 10% to 45% for driving control which is dependent on the behavior of sand. Through applying the tracive performance index to the experimental results, the preferable value of wheel slip is deduced to be 13% for the similar sand used in the experiment from the prospect of saving energy.
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Liu, J., Gao, H., Deng, Z., Tao, J. (2008). Effect of Slip on Tractive Performance of Small Rigid Wheel on Loose Sand. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_118
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DOI: https://doi.org/10.1007/978-3-540-88513-9_118
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-88512-2
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