Systematic design and development of a flexible wheel for low mass lunar rover. (April 2018)

• Record Type: Journal Article
• Authors: Sharma, Gaurav; Tiwary, Sidharth; Kumar, Abhishek; Suresha Kumar, H.N.; Keshava Murthy, K.A.
• Is Part Of: Journal of terramechanics. Volume 76(2018)
• Page Start: 39
• Page End: 52
• Publication Date: 2018-04
• Subjects: Lunar rover -- Flexible wheel -- Analysis -- Testing; Trafficability -- Periodicals; Praticabilité (Routes) -- Périodiques; Trafficability; Periodicals; 629.222
• DOI: 10.1016/j.jterra.2017.12.002
• Languages: English
• ISSNs: 0022-4898

Abstract

Highlights: Design criterion formulated to aid design process of flexible wheels. Candidate wheel designed for a low mass rover application. Prototype performance tested on a compact low cost characterisation fixture. Analysis and test results compared and reasons for difference investigated. Present work provides step by step procedure to design flexible wheels for rover. Abstract: Low mass compact rovers provide cost effective means to explore extra-terrestrial terrains. Use of flexible wheels in such applications where the wheel size is restricted, improves traction at reduced slip and sinkage. Design of a flexible wheel for a given mission is a challenging task requiring consideration of stiffness of rim and spokes, stress induced in the wheel, chassis movement during wheel rotation and the operating mode of the wheel. Also, accurate mathematical models are required to save design and development time and reduce the number of prototypes for selection. It is observed that most of the research papers deal with performance testing of flexible wheels and information on analytical formulation is scarce. Therefore, in the present work, a methodology has been formulated to systematically design a flexible wheel for a low mass lunar rover. The prototype performance is tested and compared with analytical estimates and reasons for difference are investigated. Paper contains details of design criteria, mathematical modelling, realisation of wheel prototype, test fixture and analysis test comparison. Authors believe that this work provides a useful aid to the designer to systematically design flexible wheels for low mass lunar rovers.