Analysis of drawbar pull to CE-4 Lunar rover based on rutting image of wheel

HU Zhen-yu, SHEN Yan, WANG Wei-jun, LUO Xiao-tao, ZOU Meng

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J Jilin Univ Eng Tech Ed ›› 2023, Vol. 53 ›› Issue (09) : 2474-2482. DOI: 10.13229/j.cnki.jdxbgxb.20211193

Analysis of drawbar pull to CE-4 Lunar rover based on rutting image of wheel

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Abstract

In order to assess the lunar surface trafficability of YuTu-2 lunar rover， a kind of method of lunar rover drawbar pull evaluation based on slip ration information was proposed. The wheel of the Yutu-2 lunar rover and its ground prototype were used as the test objects， the YuTu-2's lunar drive was simulated by the whole vehicle test and soil trough test. With the input parameters of rutting information， slip rate and wheel load， the calibration models of sinkage-slip rate and rut spacing-slip rate were established， the slip rate was identified by Matlab image processing. The results showed that the slip rate of the YuTu-2 lunar rover traveled in the specified area of the lunar surface at locations D'， A'， and B'， respectively is 10.45%， 12.96%， and 19.70%， and the drawbar pull is 177.03 N， 181.62 N， and 194.47 N.The ground test and inversion calculation results reveal that YuTu-2 travels well in the aforementioned region and satisfies the design requirements.

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terramechanics / lunar rover / lunar soil / slip ratio / rutting

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HU Zhen-yu , SHEN Yan , WANG Wei-jun , et al . Analysis of drawbar pull to CE-4 Lunar rover based on rutting image of wheel. Journal of Jilin University(Engineering and Technology Edition). 2023, 53(09): 2474-2482 https://doi.org/10.13229/j.cnki.jdxbgxb.20211193

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