An Analysis of the Design of Elastic Wheels for Prospective Russian Lunar Rovers from the Viewpoint of Cross-Country Capability

In this article, the possibilities of using elastic wheels in planetary rovers are considered. A rather comprehensive mathematical model of the interaction of an elastic wheel with the soil in different driving modes was created at the Bauman Moscow State Technical University. The model allowed the authors to predict, with a high degree of accuracy, the behavior of the planetary rover when moving rectilinearly and curvilinearly based on the traction characteristics of a single wheel. Theoretical research was carried out and experimental tests were performed on a stand where more than 50 prototypes of the planetary rover chassis were tested. Elastic wheels are characterized by radial, lateral and torsional rigidities. Optimally, the wheel should have only radial compliance, while in the other directions it should have the maximum rigidity. The article presents a large number of wheels to be used for the development of lunar and mars rovers and for the practical implementation. The evaluation criteria that qualitatively reflect the behavior of the wheels on the soil are developed for comparing the geometric and the flotation cross-country capability. The proposed criteria make it possible to select potential types of wheels for the prospective Russian planetary rovers.

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