ARTICLE
Analytical study of stress distribution models for estimation of stresses beneath plain rigid wheels and a vertical force on TRI-1 lunar soil simulant
 
More details
Hide details
1
Department of Civil Engineering, Sri Vishnu Engineering College for Women, Bhimavaram, India
2
Department of Civil Engineering, National Institute of Technology Trichy, Tiruchirappalli, India
Online publish date: 2019-07-15
Publish date: 2019-07-15
Submission date: 2017-09-22
Acceptance date: 2019-05-10
 
Journal of Theoretical and Applied Mechanics 2019;57(3):791–802
KEYWORDS
ABSTRACT
In this paper, three stress distribution models are considered, namely: Reece from 1965, Bekker from 1969,Wong-Reece from 1967. Two types of wheels are considered for the preset study, i.e., a small wheel with diameter of 160mm and width 32mm, whereas for a large wheel with diameter of 210mm and width of 50mm. TRI-1 or Tiruchirappalli soil simulant is considered for the interaction studies, which is an anorthosite based lunar soil simulant. The normal stress, shear stress and vertical forces are determined when the wheel starts moving on TRI-1 soil simulant. Entry and exit angles are also calculated for all models to estimate vertical forces. The maximum normal stress found for the small wheel was 32.121 kN/m2 (Wong-Reece model). In the case of the large wheel, the maximum normal stress was found to be 39.016 kN/m2 (Reece model). Vertical forces are found from the obtained normal stresses and shear stresses, and are presented graphically. The dimensionless stress ratio of both the wheels for the considered models, i.e., DNSR and DSSR, is also found.
 
REFERENCES (11)
1.
Ding L., Gao H., Deng Z., Nagatani K., Yoshida K., 2009, Slip ratio for lugged wheel of planetary rover in deformable soil: definition and estimation, Intelligent Robots and System, IROS 2009, IEEE/RSJ International Conference.
 
2.
Ding L., Gao H., Deng Z., Nagatani K., Yoshida K., 2011, Experimental study and analysis on driving wheels' performance for planetary exploration rovers moving indeformable SOI l, Journal of Terramechanics, 48, 27-45.
 
3.
Ding L., Gao H., Deng Z., Tao J., Iagnemma K.D., Liu G., 2014, Interaction mechanics model for rigid driving wheels of planetary rovers moving on sandy terrain considering multiple effects, Journal of Field Robotics, 32, 6, 827-859.
 
4.
Higa S., Sawada K., Teruya K., Nagaoka K., Yoshida K., 2016, Three dimensional stress distribution of a rigid wheel on lunar regolith simulant, Proceedings of the 13th International Symposium on Artificial Intelligence, Robotics and Automation in Space, #S-9a-3.
 
5.
Iagnemma K., Kang S., Shibly H., Dubowsky S., 2004, Online terrain parameter estimation for wheeled mobile robots with application to planetary rovers, IEEE Transactions on Robotics, 20, 5.
 
6.
Ishigami G., Otsuki M., Kubota T., Iagnemma K., 2011, Modeling of flexible and rigid wheels for exploration rover on rough terrain, Proceedings of the 28th International Symposium on Space Technology and Science, Okinawa, Japan.
 
7.
Lizuka K., Kubota T., Kubota T., 2010, Measurement of stress distribution of flexible wheels for lunar rover, Robotics (ISR), 41st International Symposium on Robotics (ROBOTIK), Munich, Germany.
 
8.
Sreenivasulu S., 2014, Development and Characterisation of TRI-1: An engineered lunar soil simulant and studies on wheel soil interaction, Ph.D. Thesis, Department of Civil Engineering, National Institute of Technology, Tiruchirappalli.
 
9.
Sutoh M., Yusa J., Nagatani K., Yoshida K., 2010, Travelling performance evaluation of planetary rovers on weak soil, Journal of Field Robotics, January, 546-551.
 
10.
Yoshida K., Hamano H., 2001, Motion Dynamics and Control of a Planetary Rover with Slip-Based Traction Model Robotics, Laboratory in Tsukuba Space Center, NASDA, Japan.
 
11.
Yoshikawa H., Oda T., Nonaka K., Sekiguchi K., 2017, Modeling and simulation of wheel driving systems based on terramechanics for planetary exploration rover using modelica, Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, 901-907.
 
eISSN:2543-6309
ISSN:1429-2955