MoonCrab: Design and tests of novel hybrid locomotion rover
Artykuł w czasopiśmie
MNiSW
20
Lista 2024
| Status: | |
| Autorzy: | Tomiło Paweł |
| Dyscypliny: | |
| Aby zobaczyć szczegóły należy się zalogować. | |
| Rok wydania: | 2025 |
| Wersja dokumentu: | Elektroniczna |
| Język: | angielski |
| Wolumen/Tom: | 27 |
| Numer artykułu: | 106164 |
| Strony: | 1 - 16 |
| Impact Factor: | 7,9 |
| Web of Science® Times Cited: | 0 |
| Scopus® Cytowania: | 0 |
| Bazy: | Web of Science | Scopus |
| Efekt badań statutowych | NIE |
| Materiał konferencyjny: | NIE |
| Publikacja OA: | TAK |
| Licencja: | |
| Sposób udostępnienia: | Witryna wydawcy |
| Wersja tekstu: | Ostateczna wersja opublikowana |
| Czas opublikowania: | W momencie opublikowania |
| Data opublikowania w OA: | 7 lipca 2025 |
| Abstrakty: | angielski |
| Exploration of planetary surfaces requires the development of highly adaptive mobile systems capable of efficiently navigating environments with complex topography and limited ground bearing capacity. In response to these challenges, this paper presents the design and functional validation of a prototype MoonCrab rover, equipped with an innovative crawling mechanism as an alternative to classical wheeled systems. The purpose of the study was to experimentally evaluate the locomotion performance of the crawling mechanism, compared to wheel drive, under loose substrates with varying grain properties. Tests were conducted on three types of soil: (1) quartz sand with a grain size of 0.5–1.0 mm, (2) finer sand with a grain size of 0.1–0.5 mm, and (3) a developed mixture simulating planetary regolith, consisting of quartz sand, basalt dust and kaolinite (QBK). The results show that the creeping mechanism has significantly less sensitivity to an increase in surface angle, achieving an average decrease in performance of 0.0067 m/◦, 0.0079 m/◦ and 0.0052 m/◦, respectively, for type 1–3 substrates. The comparative analysis showed a higher stability and adaptability of the creeping mechanism relative to the wheel drive, especially under low load conditions and on inclines. |
