Zero radius steering mechanical analysis for lunar rover wheel

Facing the requirement of establishing a zero radius steering mechanical model for the wheel configuration design, dynamic analysis and simulation of the lunar rover, based on the terramechanics, the characteristics analysis on shear stress-displacement and bulldozing resistance for steering wheel was conducted. And the quantitative relation among steering resistance moment, soil properties and wheel dimensions was established. It is confirmed that the wheel width is more sensitive than wheel diameter against steering resistance moment according to theoretical analysis of them. To validate the steering model, a single-wheel test bed was employed to test the steering performed of three rigid wheels with different dimension. The experimental results were consonant with the theoretical results which show the feasibility of this mechanical model in predicting the steering resistance moment.