Parametric analysis of lugged wheel performance for a lunar microrover by means of DEM

The purpose of this study was to develop a numerical tool to simulate the performance of lugged wheels designed for a lunar microrover. The performance was analyzed using a Discrete Element Method (DEM) whose accuracy was validated for interactions between lugged wheels and soil. DEM analysis indicated that, on flat horizontal lunar surfaces, wheels with 18 10-mm-high lugs would provide less net traction than would wheels with 36 5-mm-high lugs.