Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design of a Wheel Test Bed for a Planetary Exploration Rover and Driving Experiment

행성탐사 로버 휠 테스트 베드 설계 및 주행 실험

  • Kim, Kun-Jung (Department of Aerospace Engineering, Chonbuk National University) ;
  • Kim, Seong-Hwan (Department of Aerospace Engineering, Chonbuk National University) ;
  • Yu, Kee-Ho (Department of Aerospace Engineering, Chonbuk National University)
  • 김건중 (전북대학교 항공우주공학과) ;
  • 김성환 (전북대학교 항공우주공학과) ;
  • 유기호 (전북대학교 항공우주공학과)
  • Received : 2014.11.24
  • Accepted : 2015.01.30
  • Published : 2015.04.01
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Abstract

In this paper, the consideration factors that affect the actual driving of a rover wheel was examined based on the wheel-terrain model. For the evaluation of driving performance in a real environment, the test bed of the rover wheel consists of the driving part of the wheel and sensing part of the various parameters was designed and assembled. Using the test bed, the preliminary driving experiment concerning the slip ratio, sinkage, and friction force according to the rotational velocity and the shape of the wheel were carried out and evaluated. The wheel test bed and the experiment results are expected to contribute to finding the optimal result in the designing of the wheel shape and the planning of the driving conditions through further study.

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References

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