Article

Article title COMPARATIVE ANALYSIS OF PROPULSOR COMPONENTS OF PLANETARY ROVER CHASSIS
Authors M.I. Malenkov, V.A. Volov
Section SECTION III. GROUND ROBOTICS
Month, Year 01, 2016 @en
Index UDC 629.33.03-83
DOI
Abstract Research results, which are directed to generalization and systematization of experience of development of wheeled self-propelled low-speed rover chassis, are given. These results are further development of the materials on this subject published on pages the present magazine in 2015 (No. 1). When choosing basic design parameters of the propulsion unit specific coefficients of total and free traction and the coefficient of rolling resistance of the wheel can serve as the main criteria of the trafficability for deformable soils. As criteria of assessment of efficiency of the schemes of the balancing suspensions in particular the specific wheel-loading coefficient are proposed. This coefficient presents the attainable dynamic factor of motor-wheel in dependence on the ground conditions and the inclination of the surface. The ideal case is the equality of these coefficients which is theoretically achievable at application of active adaptive suspension only. As such a suspension it is proposed to use a mechanism of wheel-walking propulsion unit. For the analysis of the suspension efficiency on rough terrain, when driving through single discrete obstacles as rocks, scarps, required wheel-soil friction coefficient is proposed. In the article the situation is also considered, when the surface of the movement and the surface of the discrete obstacle have different properties. It is, for example, the upper part of a rock acting from sand. The two-dimensional characteristic is closer to real conditions and allows to estimate the work of a suspension unit more informatively and clearly. The analysis of the suspension type Rocker-Bogie in which the rockers are connected by transverse synchronization mechanism, and a suspension with two longitudinal bogies, and with one transversal balancing suspension of wheels, also called three-point suspension, is present. As the calculating situations, the movement on loose soil and overcoming of discrete obstacles are chosen. Quantified assessment of advantages of the new suspension scheme, when driving on steep inclines with the loose ground and overcoming discrete obstacles on different surface properties, is given.

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Keywords Planetary rover; wheel-walking propulsion unit; balancing suspension; locomotion system; cross-country ability.
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