Experimental Study of Alternative Rover Configurations and Mobility Modes for Planetary Exploration
Experimental Study of Alternative Rover Configurations and Mobility Modes for Planetary Exploration
复制标题
行星探索的替代漫游车配置和移动模式的实验研究
DOI：
10.1109/aero55745.2023.10115624
复制
发表时间：
2023
期刊：
影响因子：
--
通讯作者：
H. Nayar
中科院分区：
文献类型：
--
作者：
Arthur Bouton;William Reid;T. Brown;Adriana Daca;Mielad Sabzehi;H. Nayar
本文报告了一项实验研究，以量化不同的适应能力，可以利用，以提高性能的低成本四轮漫游车在桑迪地形的影响。结合的能力，以取代质心和倾斜的漫游者的身体，三种配置的被动悬架和八种不同的运动模式进行了检查。实验是在缩尺原型上进行的，其尺寸、质量和车轮几何形状由缩放分析确定，以确保性能指标的一致性和可转移性，以500公斤的月球车配备80厘米直径的车轮。在GRC-1月球模拟器上测试了不同的配置和运动模式，无论是在平坦的地面上，20°斜坡或30°斜坡，同时上坡或下坡，攻角为90°或45°。观察到的性能指标是行程减少，横向偏差和能量消耗。
This paper reports on an experimental study to quantify the influence of the different adaptation capabilities that can be leveraged to improve the performance of low-cost four-wheeled rovers on sandy terrain. Conjointly with the ability to displace the center of mass and incline the rover's body, three configurations of passive suspensions and eight different locomotion modes are examined. The experiments are performed on sub-scale prototypes, with size, mass, and wheel geometry determined by a scaling analysis that ensures the consistency and transferability of the performance metrics to a 500 kg lunar rover equipped with 80 cm diameter wheels. The different configurations and locomotion modes are tested on GRC-1 lunar simulant on either a flat ground, a 20° slope or a 30° slope, while climbing uphill or downhill, with a 90° or 45° angle of attack. The performance metrics observed are the travel reduction, the lateral deviation and the energy consumption.