Mobility Characterization of Planetary Rover in Reduced Gravity Environment

Details Mobility Characterization of Planetary Rover in Reduced Gravity Environment Mobility Characterization of Planetary Rover in Reduced Gravity Environment

Jan 2008

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2008aipc..969..769k&link_type=abstract

SPACE TECHNOLOGY AND APPLICATIONS INTERNATIONAL FORUM-STAIF 2008: 12th Conference on Thermophysics Applications in Microgravity;

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Lunar, Planetary, And Deep-Space Probes, Gravitational Field, Selenodesy, And Magnetic Fields, Soil Moisture And Temperature, Spacecraft/Atmosphere Interactions

Scientific paper

This paper describes effects of gravity on mobility performance of wheeled rovers for future lunar/planetary exploration missions. A series of model tests of a wheel-terrain system were performed on an aircraft during variable gravity maneuvers, and it became clear that slip of the wheel becomes high when the gravity is less than 1/2G. In addition to the flight experiments, the same model tests were performed in a laboratory on the ground (1G condition). The experiments were demonstrated with variable wheel loads by using counterweights. As a result of the on-ground experiments, the mobility performance under low wheel load conditions was found to be improved contrary to the flight experiments. In case of the flight experiments, not only the wheel load but also bearing in the terrain changes with respect to the gravity level, while only the wheel load changes in case of the on-ground experiments. Thus, running under a reduced gravity condition becomes difficult because the terrain generates higher rolling resistance by sinkage owing to the lack of bearing of the terrain. That is to say, the mobility performance on lunar/planetary surface is likely to be severer compared to the terrestrial gravity condition.

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