달 탐사시 탐사 로버는 반드시 필요하며, 특히 월면토와 로버 휠의 상호작용에 의한 로버 휠의 성능은 로버의 최적 형상을 결정하는데 있어서 매우 중요하다. 본 연구에서는 한국형 인공 월면토(KLS-1)에서 달 탐사 로버 휠의 거동 성능을 평가하기 위하여 단일 휠 성능평가 실험장비를 개발하였고, 이를 이용하여 그라우져 유무에 따른 휠 성능 평가 실험을 수행하였다. 휠 성능은 슬립율에 따른 견인력, 토크, 침하 등으로 평가하였으며, 실험 결과 개발된 단일 휠 성능평가 실험장비는 휠 성능을 적절히 평가하는 것으로 나타났으며, 한국형 인공 월면토에서 그라우져가 있는 휠이 그라우져가 없는 휠에 비해 높은 견인 성능을 보여주었다. 향후 본 실험은 한국형 로버의 최적 휠 결정을 위해 사용될 수 있을 것으로 판단된다.
달 탐사시 탐사 로버는 반드시 필요하며, 특히 월면토와 로버 휠의 상호작용에 의한 로버 휠의 성능은 로버의 최적 형상을 결정하는데 있어서 매우 중요하다. 본 연구에서는 한국형 인공 월면토(KLS-1)에서 달 탐사 로버 휠의 거동 성능을 평가하기 위하여 단일 휠 성능평가 실험장비를 개발하였고, 이를 이용하여 그라우져 유무에 따른 휠 성능 평가 실험을 수행하였다. 휠 성능은 슬립율에 따른 견인력, 토크, 침하 등으로 평가하였으며, 실험 결과 개발된 단일 휠 성능평가 실험장비는 휠 성능을 적절히 평가하는 것으로 나타났으며, 한국형 인공 월면토에서 그라우져가 있는 휠이 그라우져가 없는 휠에 비해 높은 견인 성능을 보여주었다. 향후 본 실험은 한국형 로버의 최적 휠 결정을 위해 사용될 수 있을 것으로 판단된다.
Lunar rover plays an important role in lunar exploration. Especially, performance of rover wheel related to interaction with lunar soil is of great importance when it comes to optimization of rover's configuration. In this study, in order to investigate the motion performance of lunar rover's wheel ...
Lunar rover plays an important role in lunar exploration. Especially, performance of rover wheel related to interaction with lunar soil is of great importance when it comes to optimization of rover's configuration. In this study, in order to investigate the motion performance of lunar rover's wheel on Korean Lunar Soil Simulant (KLS-1), a single wheel testbed was developed and used to carry out a series of experiments with two kinds of wheel with grousers and without grousers which were used to perform the experiments. Wheel traction performance was evaluated by using traction parameters such as drawbar pull, torque and sinkage correlated with slip ratio. The results showed that the single wheel testbed was suitable for evaluation of the performance of wheel and rover wheel with grousers which was likely to have higher traction performance than that without grousers in Korean Lunar soil simulant. The experimental results could be utilized in verification of the optimum wheel design and effectiveness of wheel traction for Korean lunar rover.
Lunar rover plays an important role in lunar exploration. Especially, performance of rover wheel related to interaction with lunar soil is of great importance when it comes to optimization of rover's configuration. In this study, in order to investigate the motion performance of lunar rover's wheel on Korean Lunar Soil Simulant (KLS-1), a single wheel testbed was developed and used to carry out a series of experiments with two kinds of wheel with grousers and without grousers which were used to perform the experiments. Wheel traction performance was evaluated by using traction parameters such as drawbar pull, torque and sinkage correlated with slip ratio. The results showed that the single wheel testbed was suitable for evaluation of the performance of wheel and rover wheel with grousers which was likely to have higher traction performance than that without grousers in Korean Lunar soil simulant. The experimental results could be utilized in verification of the optimum wheel design and effectiveness of wheel traction for Korean lunar rover.
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제안 방법
As introduced in previous studies to implement and satisfy the task of Korean lunar exploration, two kinds of wheels, one with grousers and the other without grousers were applied to investigate and compare rover wheel’s motion performance.
As wheel design is a key factor evaluated in this study, a series of experiments with 2 kinds of wheels (with grousers and without grousers) were performed on the KLS-1. While a wheel moves on the deformable terrain, tracks are generated.
In order to validate reliable mobility of rover wheel’s mobility performance, the experiments were carried out on the Korean lunar soil simulant (KLS-1).
In this study, a single wheel testbed was developed and used to evaluate the traction performance of two lunar rover wheels (with grousers and without grousers) on Korean lunar soil simulants (KLS-1) whose geotechnical and physical properties were experimentally validated to be similar to real lunar soil and other lunar soil simulants. The traction performance parameters such as drawbar pull, torque and sinkage were measured by the single wheel testbed in order to evaluate the performance of the wheel under the normal load of 6 kg at the speed of 10 mm/s.
In this study, a single-wheel testbed was developed and used to experimentally evaluate traction performance of rigid wheel on deformable soil in terms of drawbar pull, torque and slip-sinkage versus slip ratio under different wheel configuration and vertical load. As planetary rover can get stuck into loose soil, wheel with grousers has been studied because it has significant influence on wheel’s performance (Liu et al.
4 (Ding, 2010). In this study, to compare performance of rover wheel traction, the slip ratio was set to be from 0 to 50% and slip ratio was controlled by varying motion velocity of carriage motor. In order to ensure the repeatability and reliability and to reduce measurement error of the experiments, all the experiments were carried out three times under the same condition.
Regardless of influence of wheel’s weight, size of wheel with diameter of 170 mm and width of 80 mm was adopted in this study.
In order to ensure the repeatability and reliability and to reduce measurement error of the experiments, all the experiments were carried out three times under the same condition. The mean values were utilized to derive the correlation between drawbar pull, torque, sinkage and slip ratio, respectively.
Therefore, the data of drawbar pull, torque and sinkage from 10s to 40s at steady-state response were utilized to calculate the mean value and standard deviation in each case. The obtained data were adopted to plot the curve of drawbar pull, torque and sinkage as a function of slip ratio.
In this study, a single wheel testbed was developed and used to evaluate the traction performance of two lunar rover wheels (with grousers and without grousers) on Korean lunar soil simulants (KLS-1) whose geotechnical and physical properties were experimentally validated to be similar to real lunar soil and other lunar soil simulants. The traction performance parameters such as drawbar pull, torque and sinkage were measured by the single wheel testbed in order to evaluate the performance of the wheel under the normal load of 6 kg at the speed of 10 mm/s.
Due to the limited quantity of available lunar soils, it is very difficult to carry out experiments on the real lunar soils. Therefore, to satisfy and accomplish the reliable analysis of wheel mobility performance, Korean lunar soil simulant (KLS-1) having similar physical and geotechnical properties of real lunar soil was developed by Ryu et al. (2015) and utilized to simulate lunar terrain in this study.
대상 데이터
The size of soil box of the testbed is 2000 mm × 600 mm × 500 mm. It was designed to conduct experiments on a wheel with a diameter ranging from 150 mm to 250 mm and width ranging from 50 mm to 120 mm. The testbed consists of a driving motor, a carriage motor, LVDT, a counterweight system, and a torque sensor.
It was designed to conduct experiments on a wheel with a diameter ranging from 150 mm to 250 mm and width ranging from 50 mm to 120 mm. The testbed consists of a driving motor, a carriage motor, LVDT, a counterweight system, and a torque sensor. The driving motor and the carriage motor are used to make the wheel and vehicle body move independently.
성능/효과
The results also indicate that the value of drawbar pull, torque and sinkage are higher in the case of wheel with grouser than without wheel. The peak value of torque on wheel with grousers is only 1.
후속연구
In the stage of lunar rover’s development, rover’s locomotion performance on the deformable terrain should be investigated in order to plan the moving path.
To analyze the optimum wheel configuration and evaluate the reliability of rover’s locomotion performance better, more experiments in terms of changing wheel grouser shape, wheel size, soil conditions and temperature conditions should be implemented in the future works.
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