Analysis and Test of the Driving Wheel of Planetary Rover in Simulated Lunar Surface

In this paper, a rigid wheel of the rover is designed. We discuss the physical parameters of the typical metal materials to analyze the static load stress of the structure of rigid wheel. Comparing the moon environment with the earth environment, we draw up various optimization schemes and deduce the model of subsidence relationship of the wheel and the soil. In addition, the tephra is used to make the simulated lunar soil applied in the basic mechanical experiments of the vehicles in the moon. Then we use the optimized rigid wheel to conduct the test experiment of different vertical load and slip ratio of rolling on the simulated lunar soil. The subsidence relationship model of the wheel is discussed and we have analyzed the experimental data.