| Travelling long distances with maximum reliability are necessary requirements for future lunar rover missions. Rovers' mobility performance highly depends on wheel type and the mechanical properties of the terrain on which it is rolling. On the lunar surface, the terrain is primarily composed of very fine grained abrasive particles called regolith. Traditional pneumatic rubber wheels are not a viable option for planetary rovers, due to the unknown properties of rubber over a long term exposure to radiation, and the chances of failure in the near vacuum environment. Therefore, non-pneumatic non-rubber compliant wheels have been recognized as a best possible option for planetary exploration rovers.;The present research thesis focuses on testing procedures and data analysis of different prototype wheels, rolling on dry sand, by considering several wheel-soil performance parameters including traction, slope climbing ability, rolling resistance, and power consumption. Results from these experiments demonstrate some of the main wheel properties that can affect wheel performance at low speed conditions and provide preliminary data for validation of wheel-terrain model simulation performed within the McGill University research group. The tested wheels were designed and tested at McGill University, Montreal, Canada, as part of a partnership program between the Canadian Space Agency, Neptec Design Group and a number of associated organizations. |
