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Table 3 Soil parameters and values for the calculation of the wheel force

From: Estimation of resistance force at steady-state sinkage for cylindrical wheel-typed lunar/planetary exploration rovers with function of push–pull locomotion

Modulus

Value

Unit

Name of parameters

References

c

762

\(\mathrm {(N/m^2)}\)

Soil cohesion

[31]

\(C_a\)

762

\(\mathrm {(N/m^2)}\)

Soil-tool adhesion

[31]

\(c_w\)

0

\(\mathrm {(N/m^2)}\)

Soil-wheel adhesion

g

9.81

(\(\mathrm {m/s^2}\))

Earth gravity

\(k_c\)

1000

(\(\mathrm {N/m^{(n+1)}}\))

Soil modulus of deformation depend on c

Decided by experiment

\(k_\phi \)

500000

(\(\mathrm {N/m^{(n+2)}}\))

Internal friction angle modulus

Decided by experiment

n

1.1

(–)

Sinkage ratio

Decided by experiment

q

Measured

\(\mathrm {(N/m^2)}\)

Surcharge on the soil surface

Measured by experiment

\(\delta \)

15

\(\mathrm {(^\circ )}\)

External friction angle

Decided by plate towing experiment

\(\beta \)

90

\(\mathrm {(^\circ )}\)

Rake angle

\(\gamma \)

1430

(\(\mathrm {kg/m^3}\))

Soil density

Measured by experiment

\(\phi \)

22.3

(\(^\circ \))

Internal friction angle

[31]