> For the complete documentation index, see [llms.txt](https://2024.istvs.org/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://2024.istvs.org/submissions/papers/0412.md). # 0412 / Evaluation Of Grouser Wheel Traction Performance At High-Speed By Single-Wheel Test ## Authors Keisuke Takehana, Kenta Sawa, Kentaro Uno, Shreya Santra, and Kazuya Yoshida {% hint style="info" %} Paper presented at ISTVS 2024 | 21st International and 12th Asia-Pacific Regional Conference of the ISTVS\ Keywords: High-speed mobility; Single-wheel test; Lunar exploration rover; Grouser wheel\ {% endhint %} ## Abstract This study focuses on the locomotion characteristics of a high-speed lunar exploration rover. On the loose soil such as lunar regolith, wheeled mobility systems often encounter wheel sinkage and slippage, leading to trafficability challenges. While conventional exploration rovers are designed to improve mobility using grouser wheels, their exploration speed remains relatively slow (\~10^-2 m/s). High-speed traversal is essential for expanding exploration areas in future missions. In this paper, we conduct single-wheel tests under high-speed conditions and provide detailed results from force measurements. Three types of wheels are prepared: no grouser, low grouser, and high grouser, and their traction performance are compared. The testbed allows speeds of 1 m/s, which is about a hundred times faster than conventional exploration speeds. We measured traction coefficients (the ratio of drawbar pull to vertical load) and traction efficiency (the ratio of input energy to output energy) for variable slip ratios to assess traction performance. Our results revealed a trend where traction performance decreases as driving velocity increases. This behavior of performance at various speeds differs from that at low speeds. Each performance exhibited substantial dependence on the slip ratio, with efficiency peaking around a slip ratio of approximately 5% to 10%. Additionally, experiments varying grouser height under identical driving conditions demonstrated improved traction performance with higher grouser wheels. Through this experimental evaluation, we confirmed the effectiveness of grouser wheels even at high speeds. These terramechanical findings contribute to the wheel design and locomotion control of next-generation exploration rovers. *** Full paper purchase: \ ISTVS members receive three complimentary papers per year: --- # Agent Instructions This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com. ## Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter, and the optional `goal` query parameter: ``` GET https://2024.istvs.org/submissions/papers/0412.md?ask=&goal= ``` `ask` is the immediate question: it should be specific, self-contained, and written in natural language. `goal` is optional and describes the broader end goal you are ultimately trying to accomplish on behalf of the user. GitBook uses it to tailor the answer towards what is most useful for that goal. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.