Abstract: Based on the sinkage-pressure theory, the stress-displacement relationship and the theory of passive earth pressure, the dynamical wheel–soil interaction model is built to simulate the interactive behavior between the wheel with grousers and dry-sand soil, the stress distribution and torques of the wheels can be predicted using this model. Integrating the sub-model with rocker-bogie suspensions of the lunar rover, the dynamical model of the mobility system is developed to investigate the off-road performance including the distribution of the stress acting on the interface between the wheels and soil and torque of the wheel while the rover travels on the loose soil. In order to valid this model, the test bed of the rocker-bogie mobility system and single processing are developed. The accuracy and reliability of the model are verified by some experiments. The comparison between the measured results and simulation results indicates that this model is validated and can be used to investigate the performance of the multi-wheel rover traveling on the loose soil.

Key words: Lunar rover, Mobility system, Wheel with grousers, Wheel-soil model