کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
10419131 | 903454 | 2005 | 13 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
An equivalent soil mechanics formulation for rigid wheels in deformable terrain, with application to planetary exploration rovers
دانلود مقاله + سفارش ترجمه
دانلود مقاله ISI انگلیسی
رایگان برای ایرانیان
موضوعات مرتبط
مهندسی و علوم پایه
علوم زمین و سیارات
مهندسی ژئوتکنیک و زمین شناسی مهندسی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: An equivalent soil mechanics formulation for rigid wheels in deformable terrain, with application to planetary exploration rovers An equivalent soil mechanics formulation for rigid wheels in deformable terrain, with application to planetary exploration rovers](/preview/png/10419131.png)
چکیده انگلیسی
A simplified, closed-form version of the basic mechanics of a driven rigid wheel on low-cohesion deformable terrain is presented. This approach allows the formulation of an on-line terrain parameter estimation algorithm, which has important applications for planetary exploration rovers. Analytical comparisons of the original and simplified equations are presented, and are shown to closely agree. Experimental results from a single-wheel testbed operating in dry sand shows that the simplified equations can be used for mobility prediction with good accuracy. Methods for incorporating the simplified equations into an on-line terrain parameter algorithm are discussed.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Journal of Terramechanics - Volume 42, Issue 1, January 2005, Pages 1-13
Journal: Journal of Terramechanics - Volume 42, Issue 1, January 2005, Pages 1-13
نویسندگان
H. Shibly, K. Iagnemma, S. Dubowsky,