Wheeled planetary rover locomotion design, scaling, and analysis

Chapter Contents: 2.1 Background: modeling the granular environment 2.2 Methods 2.2.1 Theory: wheel parameter scaling for output parameters of mechanical power and translational velocity in granular media 2.2.2 Experimentation: planetary regolith simulants and testing environments 2.3 Studies giving context to scaling theory 2.3.1 Study one: mechanical power and translational velocity prediction variance by granular material and wheel shape 2.3.2 Study two: mechanical power prediction variance by mass, velocity, and motor placement 2.3.3 Study three: context of deviations and examination of scaling law application sinkage threshold 2.3.4 Study four: investigating gravity-variant scaling using MBD-DEM simulations 2.4 Recommendations and future work References