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Information Technology Journal

Year: 2008  |  Volume: 7  |  Issue: 8  |  Page No.: 1125 - 1132

Effect of Straight Grousers Parameters on Motion Performance of Small Rigid Wheel on Loose Sand

J. Liu, H. Gao and Z. Deng


For optimizing wheel configuration of planetary rover, the effect analysis of straight grousers on motion performance of a small rigid wheel was conducted in loose sand bin. All tests were done at a free wheel sinkage and 0 to 60% slip in a single-wheel test bed. By the qualitative analysis and comparisons of tractive and steering performance between smooth wheel and the wheels with different straight grousers, the results show that the grouser height and slip more significantly influence the motion performance than grouser spacing and thickness. Through applying the evaluation indexes of tractive and steering performance to the experimental results, the preferable grouser parameters for actual applications are 15° grouser spacing, 10 mm grouser height and 1.5 mm grouser thickness; the optimum value of wheel slip is 13% for the similar sand used in the experiment.

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