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首页> 外文期刊>The International journal of robotics research >The effects of reduced-gravity on planetary rover mobility
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The effects of reduced-gravity on planetary rover mobility

机译：减重对行星罗孚移动性的影响

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One of the major challenges faced by planetary exploration rovers today is the negotiation of difficult terrain, such as fine granular regolith commonly found on the Moon and Mars. Current testing methods on Earth fail to account for the effect of reduced gravity on the soil itself. This work characterizes the effects of reduced gravity on wheel-soil interactions between an ExoMars rover wheel prototype and a martian soil simulant aboard parabolic flights producing effective mar-tian and lunar gravitational accelerations. These experiments are the first to collect wheel-soil interaction imagery and force/torque sensor data alongside wheel sinkage data. Results from reduced-gravity flights are compared with on-ground experiments with all parameters equal, including wheel load, such that the only difference between the experiments is the effect of gravity on the soil itself. In lunar gravity, a statistically significant average reduction in traction of 20% is observed compared with 1g, and in martian gravity an average traction reduction of 5-10% is observed. Subsurface soil imaging shows that soil mobilization increases as gravity decreases, suggesting a deterioration in soil strength, which could be the cause of the reduction in traction. Statistically significant increases in wheel sinkage in both martian and lunar gravity provide additional evidence for decreased soil strength. All of these observations (decreased traction, increased soil mobilization, and increased sinkage) hinder a rover's ability to drive, and should be considered when interpreting results from reduced-load mobility tests conducted on Earth.
机译：行星勘探船只所面临的主要挑战之一是遇到困难地形的谈判，如在月球和火星上常见的细粒度颗粒颗粒。地球上的目前的测试方法未能考虑减少重力对土壤本身的影响。这项工作表征了重力减小对散发虎轮原型与火星土模拟人之间的轮泥相互作用的影响，抛物线飞行有效的Mar-Tian和月球重力加速。这些实验是第一个收集轮子互动图像和力/扭矩传感器数据沿着轮沉陷数据。减少重力飞行的结果与所有参数相等的地面实验进行比较，包括车轮荷载，使实验之间的唯一差异是重力对土本身的影响。在月球重力中，观察到20％的统计学上显着的平均降低，与1G相比，在火星重力中观察到平均牵引减少5-10％。地下土壤成像表明，土壤动员随着重力的增加而增加，表明土壤强度劣化，这可能是牵引力减少的原因。 Martian和月球重力中的车轮减少的统计上显着增加为土壤强度降低提供额外的证据。所有这些观察结果（减少牵引力，增加土壤调动和增加的沉陷）都会阻碍流动站的驾驶能力，并且应在解释地球上进行的减载流动性试验的结果时考虑。

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