Research of Semi-Step Walking Wheel Based on Vehicle-Terramechanics

Yi Bing Zhao; Lie Guo; Lin Hui Li; Ming Heng Zhang

doi:10.4028/www.scientific.net/AMM.409-410.1435

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 409-410Research of Semi-Step Walking Wheel Based on...

Research of Semi-Step Walking Wheel Based on Vehicle-Terramechanics

Abstract:

One new structure of Semi-step Walking Wheel Modeled on Impeller is constructed based on Vehicle-Terramechanics. Based on Passive earth pressure of soil mechanics put forward by C.A.Coulomb, the front force formula of the vane of Semi-step Walking Wheel modeled on Impeller is reduced and the wheel traction force when a set of vanes insert the earth is derived. Some Kinematics Simulations are conducted for installing Lunar rover model with ADAMS software. The simulation results show that the wheel can travel smoothly on straight road, climb over bump obstacles. Also, the ability of the lunar rover one-side surmounting obstacle is better than the ability of two-sides. The walking wheel inherits high ride comfort of traditional wheel and excellent cross obstacle ability of walking wheel.

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Periodical:

Applied Mechanics and Materials (Volumes 409-410)

Pages:

1435-1440

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.409-410.1435

Citation:

Cite this paper

Online since:

September 2013

Authors:

Yi Bing Zhao, Lie Guo, Lin Hui Li, Ming Heng Zhang

Keywords:

Lunar Rover, Passive Earth Pressure of Soil Mechanics, Simulation, Vane, Vehicle-Terramechanics, Walkingwheel

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