TERRAMECHANICS ON LUNAR SOIL SIMULANTS: A REVIEW · 2015-04-21 · 92 Int. J. Struct. & Civil Engg. Res. 2014 S Jayalekshmi and Sugali Sreenivasulu, 2014 TERRAMECHANICS ON LUNAR SOIL

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Int. J. Struct. & Civil Engg. Res. 2014 S Jayalekshmi and Sugali Sreenivasulu, 2014

TERRAMECHANICS ON LUNARSOIL SIMULANTS: A REVIEW

Sugali Sreenivasulu1 and S Jayalekshmi1*

The state of the art report on Terramechanism on Lunar Soil Simulant are the prime need of thehour in the field of space research programs. The prime objective of the paper is to bring out theresearch significance on Terramechanism. A comprehensive summary of the researches carriedout on wheel-soil interaction in the past decades is presented. The paper highlights the conceptsof drawbar pull, torque, slip, slip-ratio, sinkage and compaction resistance which are significantin predicting the travelling performance of the vehicles on the soil. The paper portrays vividly thewheel-soil interaction mechanism between lunar soil simulants and vehicle wheels.

1 National Institute of Technology,Tiruchirappalli.

*Corresponding author:S Jayalekshmi [email protected]

ISSN 2319 – 6009 www.ijscer.comVol. 3, No. 2, May 2014

© 2014 IJSCER. All Rights Reserved

Int. J. Struct. & Civil Engg. Res. 2014

Review Article

Keywords: Lunar Soil Simulant, Terramechanism, Drawbar pull, Torque, Wheel-Soil Interaction

INTRODUCTIONIn recent times, rigorous research has beenmade on a physics based model that involvestraction mechanics between the wheel andterrain to achieve advanced mission goals.This paper presents a review of classical terra-mechanics model. Pressure-sinkage modelsplay a fundamental role in terramechanics. Thelunar gravity is one sixth of the earth gravity.The relative low gravity make huge influenceto the lunar rover’s moon landing, the mobilityof running gear and the in-situ measurementof lunar soil. However, the low gravityenvironment is difficult to achieve on testingground. The existing methods of making lowgravity have apparent drawbacks. Thus, it is

essential to find an effective and operableground experiment method to predict thetractive performance of lunar rover under lowgravity environment. This paper outlines thedevelopments in advanced wheel-soilinteraction models.

RESEARCH SIGNIFICANCEON TERRAMECHANISMKazuya Yoshida et al. (2002) conductedmotion dynamics and control of a planetaryrover with slip-based traction model that bringsimportance about the traversability to the slipof the wheels. The relationship of load-tractionfactor versus the slip ratio was modeledtheoretically and then verified by experiments.

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Kazuya Yoshida et al. (2002) investigateddynamics, control and navigation of a lunarrover with special attention to slip and tractionmechanics of the wheels. Experiments werecarried out with a single-wheel test bed toobserve the physical phenomena, then off-lineanalysis is carried out to verify the tire tractionmodel and identify empirical parameters. Adynamics simulation model was developedand used to evaluate the effectiveness of asuspension mechanism.

Dimitrios Apostolopoulos (2003) conducted50 experiments in various terrain conditionsand geometries, including discrete orthogonaland combined steps, and slopes tocharacterize inflatable wheel mobility as afunction of tire construction, loading andinflation. The wear resistance of the inflatabletire though over 50 km of endurance traversesin a closed test course was quantified.

Robert Bauer et al. (2004) found goodagreement between experimental andsimulation results for wheel sinkage as afunction of slip ratio. The experiments showedthat, for the dry sandy soil used, the wheel with18 grousers had approximately 30%improvement in drawbar pull over the wheelwith 9 grousers with relatively little effect onsinkage. ASTM was able to capture thesinkage vs. slip ratio relationship accuratelyfor both single and multi pass cases.

Liang Ding (2004) proposed an improvedwheel-soil interaction mechanics model, andit is then simplified by linearizing the normalstress and shearing stress to derive closed-form analytical equations to predict DrawbarPull and Torque are suitable for real-timeapplications because of their high precisionand short calculation time.

Karl Iagnemma et al. (2004) studied theparameters that can be used for traversabilityprediction or in a traction control algorithm toimprove robot mobility and to plan safe actionplans for autonomous systems. The algorithmwas based on a simplified form of classicalterramechanics equation and used a linear-least squares method to compute terrainparameters. Figure 1 shows the real timesimulation.

Figure 1: Terrain CharacterizationTest Bed (Karl Iagnemma et al., 2004)

Benoit et al. (2005) carried out sinkagetests with circular plates on four soils chosento represent the mechanical properties of arange of soils: a sand for frictional soils, a siltfor cohesive soils and a silty sand and a sandyloam for cohesive frictional soils. The vehiclemotion resistance on a tilled soil was relatedto its sinkage which was one of thecomponents of the mobility models allowingcalculation of the motion resistance related tothe running gear sinkage in the soil. Thismodelling of the pressure–sinkage curves forthe tilled soils must operationally allowestimation of the sinkage with an acceptableprecision.

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Tao et al. (2006) constructed a wheel-soilinteraction for a rigid wheel of lunar rover whenrolling and steering, based on the theories ofterramechanics and passive earth pressure.The draw bar pull (DP), driven torque (T), andsteering torque (RT) would grow as the internalfriction angle grows. The experimental set upis shown in Figure 2.

wheel drive torque predicted from the identifiedsoil parameters, are shown to be in goodagreement with their measured values. Hence,drawbar pull and wheel drive torque can beeffectively predicted and used for vehicleperformance optimization. The concept ofwheeled vehicle immobility in a terrain waspresented. Wheeled vehicle immobility can inturn be used to design simple traversabilitycriterion for a wheeled vehicle traversing anunknown terrain.

Kazuya Yoshida (2006) verified therelationship of Drawbar Pull versus the slipratio by the experiments. Specific parametersto characterize the soil and tire traction havebeen also identified. Slope climbingperformance of a rover on Regolith Simulantwas investigated. The traction margin and slipmargin were defined to be used in a tractioncontrol, and the limitation of the climbing anglewas given at zero margins.

Lauro Ojeda et al. (2006) proposed methodto estimate wheel slippage from motor currentmeasurements. In this paper, we introduced amethod for detecting and correcting odometryerrors caused by AWS in planetary rovers andother robots with multiple, independentlydriven wheels.

Christopher et al. (2006) presented a vision-based method to measure the sinkage of arigid robot wheel in rigid or deformable terrain.The method is based on detecting thedifference in intensity between the wheel rimand the terrain. The method used a singlegrayscale camera and was computationallyefficient, making it suitable for systems withlimited computational resources such asplanetary rovers shown in Figures 3 and 4.

Figure 2: Testing Experiment(J G Tao et al., 2006)

Suksun Hutangkabodee (2006) investigatedsoil parameters required to predict drawbarpull and wheel drive torque frommeasurements of slip, sinkage, and drawbarpull [i, zo, DP] for a wheeled vehicle traversingunknown terrain. The soil parametersidentified were internal friction angle (φ ), sheardeformation modulus (K), and lumped

pressure-sinkage coefficient ck

S kb φ

⎛ ⎞= +⎜ ⎟⎝ ⎠

.

The Newton Raphson method was used foridentification, using an approximated form ofwheel terrain interaction model using aComposite Simpson’s Rule. The resultsdepicted that the method can identify soilparameters accurately and robustly withrelatively fast speed. The drawbar pull and

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Experimental results under various terrain andlighting conditions demonstrated theeffectiveness and robustness of the algorithm.

Suksun Hutangkabodee (2008) estimatedsoil parameters required for vehicle drivingforce prediction drawbar pull and canpotentially be employed for traversabilityprediction and traction control. TheGeneralized Newton Raphson method wasused to identify terrain parameters in real-time.Wheel-terrain interaction test is shown inFigure 5.

Sachiko Wakabayashi et al. (2009)designed a tracked lunar vehicle to enhancevehicle mobility on the Moon, especially on

sandy slopes or in soft sand areas, wasdesigned and developed using mesh crawlerlinks to reduce contact pressure as well asweight and parts count. Slip ratio stability issignificant for criterion for a mobility system.The crawler system shown in Figure 6 have apotential to combine both high mobilityperformance and low power consumption.

Figure 3: Significant Wheel Sinkageon Mockup of Spirit Rover at NASA Jet

Propulsion Laboratory (NASA/JPL Image)(Christopher et al., 2006)

Figure 4: FSRL Wheel-TerrainInteraction Test bed

(Christopher et al., 2006)

Figure 5: Wheel-terrain InteractionTest Rig Where,

(Suksun Hutangkabodee et al., 2008)

Figure 6: Various Slope of simulant bed(Sachiko Wakabayashi et al., 2009)

ChenBin et al. (2009) discussed pressure-sinkage models of which the parameters werefitted based on the measured data from soilbin tests in order to select the suitable modelfor describing the pressure- sinkagecharacteristics of the simulant lunar soil under

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the rigid wheel soil bin test were conducted.But simulated sinkage in lunar gravity largerthan that calculated sinkage by selected modelunder the same pressure condition.

Liang Ding et al. (2009) inferred that soilcan cause little resistance force for a smoothwheel if the slip ratio was zero, because thesoil was loose and sinkage was small and theshearing radius was to make the drawbar pullzero for zero slip to eliminate the effect of thewheel lugs.

Alexandre (2010) presented stochasticmodel to assess parameter uncertainty leveldue to soil properties. Multibody simulationmodels were used to represent the kinematicstructure. Drawbar pull force and resistancetorque were calculated.

Gareth Meirion-Griffith et al. (2010)conducted terrestrial and planetary explorationin understanding how terrain properties affectrover mobility. Bekker theory has been usedsuccessfully in this regard for the analysis oflarge vehicles. The Bekker theory yields under-estimates of small wheel sinkage andresistances and increasing numbers of smallUnmanned Ground Vehicle (UGV)s shown in

Figure 7 being used in planetary, research andmilitary roles. An empirical approach tocharacterize small vehicle wheel sinkage andits impact on vehicle-terrain models.

Ding Liang et al. (2010) found that thenumber of wheel lug has little influence on thewheel sinkage, the height of wheel lugs haslittle influence on the flow of soil, and thedifference of wheel sinkage, which is relativelysmall, is mainly caused by supporting and soildigging of lugs.

Masataku Sutoh et al. (2011) found that thetraveling performance does not changeaccording to an increase in rover weightbecause the drawbar pull that a trackgenerates increases with the increase in therover’s weight. Large wheel diameter andwidth contribute to a decrease in wheelsinkage in loose soil, resulting in a hightraveling performance. The wheel diametercontributes more to the high travelingperformance than an increase in the wheelwidth. The number of lugs on the wheelscontributes to a high traveling performance.

Sutoh et al. (2011) investigated thesurfaces of the Moon and Mars that arecovered with loose soil. The linear travelingspeed of a wheel with lugs was analyzed andguidelines were provided for determining thesuitable lug interval.

Sutoh (2011) analyzed the travelingperformance of Planetary Rovers with wheelsequipped with lugs over loose soil. The travelingtests using a two-wheeled rover with wheelshaving different numbers of lugs of differentheights were performed to estimate thesuitable interval for lugs.

Liang Ding (2011) addressed planetary

Figure 7: 0.17m Diameter WheelDuring Testing

(Gareth Meirion-Griffith et al., 2010)

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rovers’ wheel–soil interaction mechanics, newchallenges and applications for wheeledmobile robots. The application status of theterramechanics for planetary rovers is analyzedfrom the aspects of rover design, performanceevaluation, planetary soi l parameteridentification, dynamics simulation, mobilitycontrol, and path planning.

Ali Azimi et al. (2011) employed theDrucker-Prager constitutive relation with caphardening. The calibration of the semi-empirical model parameters is done byperforming simulation runs using detailed FEMmodels with the ABAQUS /Explicit softwarepackage. Wheel soil interaction modeling byassuming a velocity field in the vicinity of thecontact area. Despite the simplicity of thevelocity field, the results were in goodagreement with experimentally validated semi-empirical models.

Gareth Meirion-Griffith et al. (2011) adoptedBekker’s model for sinkage and compactionresistance have been discussed. An empiricalinvestigation into the effect of wheel diameteron the pressure–sinkage relationship for smallwheels was carried out detailed. Newpressure–sinkage model was proposed andhas been used to re-derive Bekker’s sinkageand compaction resistance equations.

Maximi lian Apfelbeck et al. (2011)presented soil parameter identificationmethod and found a reliable soil preparation,which is applicable to a large planetary roverperformance test bed. The test results showthat there were certain influences on thepressure–sinkage relationship for differentpenetration velocities and different penetrationtool dimensions. It was also shown that the

shear parameters depend on the dimensionsof the shear tool and the grouser height,whereas they were invariant against thenumber of grousers and the rotational velocity.

Masataku Sutoh (2011) used wheels thathave parallel fins called lugs (i.e., grousers)on their surface; it was difficult to define theeffective diameter of a wheel with lugs and todefine the slip ratio on the basis of the abovemethod. Therefore, in this study, the slip ratio(s) was defined for a wheel with lugs as

1d d

d d

d dS

d d ...(1)

where d denotes the actual traveling distanceper wheel rotation, and d

d denotes the traveling

distance per wheel rotation on hard ground.

Krzysztof Skonieczny et al. (2012)proposed an equation for determining thegeometry of planetary rover wheels.Experiments with various grouser heights andnumbers were demonstrated. The proposedequation relates the geometric wheelparameters such as wheel radius, grouserheight and spacing; and operating parameterslike slip and sinkage and predicts themaximum allowable grouser spacing. It wasinferred that the proposed equation predictedthe experimental results in goodcorrespondence.

Gareth Meirion-Griffith et al. (2012)investigated on pressure-sinkage model forsmall diameter wheels on compactive soils byincluding the effect of wheel width on apreviously proposed diameter-dependentpressure-sinkage model. The results indicatethat the proposed model offered betterpredictive capabilities than its predecessors.

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Wong et al. (2012) evaluated the effect ofslip on wheel sinkage has been evaluated. Itwas found that gravity has little effect on theslip and sinkage relationship of the rover wheelunder self-propelled conditions. Wheel masson both the extraterrestrial and the earthsurfaces, experimental evidence indicates thatthe above Equations (2) and (3) may be usedto predict the sinkage of a rigid wheel on theextraterrestrial surface with any gravity basedon that measured on the earth surface.

ex

ex cex ex exex

ee

e ce e e

mg

b n K g K DZmgZ

b n K g K D

...(2)

1ex

e

Z

Z ...(3)

Carmine Senatore et al. (2012) conducted

experiments to understanding the fundamental

phenomena governing the motion of lightweight

vehicles on dry, granular soils. The first relies

on high speed imaging of the wheel-soil

interface and the use of Particle Image

Velocimetry (PIV) to measure micro-scale

terrain kinematics. Soil usually exhibits

compression in front of the wheel and then

shears beneath it. Stress measurements

showed that, although only one shear failure

surface was present, tangential stress goes

through sign inversion for negative slip and

provide deeper understanding of the

mechanics of traction generation and are

expected to open new frontiers for more

accurate, and predictive, light weight vehicle

mobility models.

Wong (2012) predicted the performancesof rigid rover wheels on extraterrestrialsurfaces based on test results obtained on theearth.

Meng Li (2012) selected the keyparameters of the system between lunar soiland rover wheel and the terramechanicalmodel of the system under lunar gravity wasformulated according to similarity theorem, andthen the feasibility of model experimentapproach was discussed. The drawbar pulland tractive torque obtained in modelexperiment were 6 times of theircorresponding values under prototypecondition. Hence, the proposed method canbe used to study a lunar rover’s tractiveperformance.

Kenji Nagaoka (2012) investigatedanalytically tractive limitations of a wheel onloose soil by applying semi empirical soil-wheel interaction models. It was inferred thatthe sinkage ratio h/r was the most importantfactor for preventing the wheel from gettingstuck in loose soil. The proposed model was

1cos 1f

h

r

...(4)

1 ;0 1

1; 1 0

vs

rsv

sr

...(5)

tan 1 expj

Ck

...(6)

Scott Moreland et al. (2012) proposed anovel experimentation and analysis techniqueto enable investigation of terramechanics

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fundamentals. Based on the result it wasinferred that single wheel test load cellmeasurements showed that wheels withgrousers can be configured to increasedrawbar pull and compaction in the forwardflow region in front of the contact area was notobserved for wheels with grousers thatgenerate high drawbar.

...(7)

10

1

n

c

ZR bk

n

...(8)

Gareth Meirion-Griffith et al. (2012)presented a comprehensive pressure-sinkagemodel for small diameter wheels on soils byincluding the effect of wheel width on apreviously proposed diameter-dependentpressure-sinkage model. The effect of wheelwidth on the pressure-sinkage relationshipwas similar to that of a change in wheeldiameter. Experimental results indicated thatthe proposed model offers better predictivecapabilities than its predecessors in bothlaboratory and field tests.

Liang Cui and Savvas Avramidis (2013)determined the particle rolling resistanceincreases the required pressure for the samesinkage significantly. The pattern of the particledisplacements indicated that higher rollingresistance or higher inter-particle frictionassists the transmission of pressure / force,consequently causes wider and deeper soildisturbance. A normalized study on thepressure sinkage relationship was a betterapproach to figure out the independentparameters as shown in Figure 8.

1 21 2

2 1c

a ak b b

b b

...(9)

2 2 1 1

2 1

a b a bk

b b

...(10)

nckp k Z

b

...(11)

CONCLUSIONThis paper reports the state-of-the-art

col lection on terrain characterization

technologies in robotic exploration of planetary

surfaces. A comprehensive summary on the

experimental investigations on Wheel-Soil

Interaction is portrayed in this paper. The

analytical and numerical study on

terramechanism on lunar soil simulants is

addressed. The simulation of travelling

performance of rovers on terrain surface

experimentally validated in various papers are

brought to notice. A major scope on further

research on wheel soil interaction is revealed

through this review.

Figure 8: Pressure-Sinkage(Plate Load Test-Log-Log Scale)

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TERRAMECHANICS ON LUNAR SOIL SIMULANTS: A REVIEW · 2015-04-21 · 92 Int. J. Struct. & Civil Engg. Res. 2014 S Jayalekshmi and Sugali Sreenivasulu, 2014 TERRAMECHANICS ON LUNAR SOIL