Irregular mesh wheels for lunar rovers: A comprehensive DEM study on traction and soil interaction

Abstract

This study aimed to reveal the traction performance of an irregular mesh wheel structure and its interaction with lunar soil in a low-gravity environment. A bionic mesh wheel structure was designed, and a 3D discrete element model (DEM) was developed. The model was calibrated by simulating lunar soil parameters and validating the contact parameters. The simulation system was used to analyze the traction and micro-mechanics of particles beneath the wheel. This analysis uncovered the coupling mechanism between the irregular mesh wheel and lunar soil from both macroscopic and microscopic perspectives. The results were compared to those of conventional wheels. Simulation results show that under the same conditions, the bionic wheel’s drawbar is 35%–40% higher, its sinkage is 16%–30% higher, and its maximum tractive efficiency at low slip ratios is about 28% higher than that of the conventional wheel. These results indicate that the bionic wheel’s traction performance is superior to that of the conventional wheel and that its tractive efficiency is higher and more energy-efficient at low slip ratios. This study is crucial for accurately simulating the interaction between irregular mesh wheels and soft lunar soil in a low-gravity environment. This study provides significant insights into accurately simulating the interaction between irregular mesh wheel surfaces/lugs and soft lunar soil in a low-gravity environment. It offers important references for the design of irregular mesh wheel structures and discrete element modeling for unmanned lunar rovers.