Development and evaluation of high-speed single-wheel test for lunar exploration rover

Abstract

Rovers have significantly contributed to lunar exploration in recent years; however, most of them operate at low speeds, resulting in prolonged exploration times. For future space exploration, it is crucial to develop rovers capable of high-speed traversal and to gain a deeper understanding of the interaction between wheels and soil. We have developed a single-wheel testbed capable of operating at a speed of 5 m/s, which is substantially higher than the conventional unmanned rover’s typical speed of approximately 0.01 m/s. This apparatus allows for precise control of the wheel’s rotational and translational speeds and can actively manage the vertical load on the wheel. In this paper, we present controlled slip ratio experiments using this high-speed testbed. We measure the forces acting on the wheel, the sinkage, and evaluate the wheel’s performance in terms of its tractive capabilities. The experimental results indicate that the tractive performance decreases with an increase in the load on the wheel. Moreover, we discover that performance also declines as speed increases. This study provides valuable insights into the mechanisms of wheel performance during high-speed traversal, which will be beneficial for the development of future high-speed exploration rovers.