Artem I. Bykov
Affiliate of Lavochkin Association, Engineer-Circuitry, 17, Oktyabrskaya ul., Kaluga, 248000, Russia, tel.: +7(964)143-10-74, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0001-9972-7389
Artem V. Artemyev
Affiliate of Lavochkin Association, Chief Designer of the Affiliate, 17, Oktyabrskaya ul., Kaluga, 248000, Russia, tel.: +7(930)753-01-07, This email address is being protected from spambots. You need JavaScript enabled to view it.
Received 29 September 2021
Abstract
The analysis of the influence of the design parameters of the rover chassis on the traction dynamics, as well as the static and dynamic stability is presented. The analysis was carried out on the basis of the design parameters of the following rovers: Lunokhod-1, LRV, Sojourner, Spirit and Opportunity, as well as Curiosity. The results of the analysis of the influence of the radius and width of the rover wheel on the specific thrust coefficient are presented. An approach has been formed for determining the permissible displacement of the center of gravity of the rover in the longitudinal direction, which provides static stability. The choice of the formula for determining the maximum permissible speed of movement of automatic research planetary rovers has been substantiated. A number of recommendations have been drawn up for working out the design of the rover at the early stages of design. Boundary values of the rover wheel width, depending on the wheel radius, are proposed. The influence of the load on a separate wheeled propulsion unit on the specific thrust coefficient has been determined.
Key words
Rover, rover running characteristics, specific thrust coefficient, permissible displacement of the center of gravity, static and dynamic stability, maximum travel speed.
DOI
10.31776/RTCJ.10107
Bibliographic description
Bykov, A. and Artemyev, A., 2022. The results of analysis of traction dynamics and stability of planetary rover’s motion for determination of special wheel chassis’ boundary design parameters. Robotics and Technical Cybernetics, 10(1), pp.64-72.
UDC identifier:
629.78
References
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