An Instrumented Wheel-On-Limb System of Planetary Rovers for Wheel-Terrain Interactions: System Conception and Preliminary Design

TL;DR

This paper introduces an instrumented wheel-on-limb system for planetary rovers that enhances understanding of wheel-terrain interactions, aiding in improved maneuverability on sandy terrains through advanced sensing and system design.

Contribution

It presents a novel system concept and preliminary design for an instrumented wheel-on-limb system that characterizes wheel-terrain interactions in planetary rovers.

Findings

System allows the wheel to follow terrain contours

Enables the wheel to remain lowered during rover motion

Supports terrain adaptation during climbing and descending

Abstract

Understanding the wheel-terrain interaction is of great importance to improve the maneuverability and traversability of the rovers. A well-developed sensing device carried by the rover would greatly facilitate the complex risk-reducing operations on sandy terrains. In this paper, an instrumented wheel-on-limb (WOL) system of planetary rovers for wheel-terrain interaction characterization is presented. Assuming the function of a passive suspension of the wheel, the WOL system allows itself to follow the terrain contour, and keep the wheel remain lowered onto the ground during rover motion including climbing and descending, as well as deploy and place the wheel on the ground before a drive commanding. The system concept, functional requirements, and pre-design work, as well as the system integration are presented.