Effect of bucket-wheel scale on excavation forces and soil motion

摘要: Abstract Bucket-wheels enable planetary rovers to perform lightweight digging operations in support of sustained space exploration. Using an excavation tool whose performance scales well for robots varying sizes builds confidence a wide range future missions, much as scaled versions the rocker-bogie suspension have enabled mobility Mars vastly different sizes. Bucket-wheel force increases approximately with cube dimensions. The forces were measured bucket-wheels at proportionate depths and advance speeds, these results compared predictions by models. Analytical empirical investigated models exhibit scaling tendency similar experiment despite their independent backgrounds. Soil particle motion imaging shows that curved shear interface is prevalent conditions tested. This agrees literature allows application analytical