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Effect of Angle of Attack on Slope Climbing PerformanceAscending steep slopes is often a very difficult challenge for off-road vehicles, whether on Earth or on extraterrestrial bodies. This challenge is even greater if the surface consists of loose granular soil that does not provide much shear strength. This study investigated how the path at which a vehicle traverses a slope, specifically the angle that it is commanded to drive relative to the base of the hill (the angle of attack), can affect its performance. A vehicle was driven in loose sand at slope angles up to 15 degrees and angles of attack ranging from 10 to 90 degrees. A novel photogrammetry technique was implemented to both track vehicle motion and create a three-dimensional profile of the terrain. This allowed for true wheel sinkage measurements. The study showed that though low angles of attack result in lower wheel slip and sinkage, the efficiency of the vehicles uphill motion increased at higher angles of attack. For slopes up to 15 degrees, a 90 degree angle of attack provided the greatest likelihood of successful ascent.
Document ID
20180000349
Document Type
Technical Memorandum (TM)
Authors
Creager, Colin M.
(NASA Glenn Research Center Cleveland, OH, United States)
Jones, Lucas
(Virginia Tech Blacksburg, VA, United States)
Smith, Lauren M.
(Case Western Reserve Univ. Cleveland, OH, United States)
Date Acquired
January 9, 2018
Publication Date
December 1, 2017
Subject Category
Mechanical Engineering
Lunar And Planetary Science And Exploration
Ground Support Systems And Facilities (Space)
Report/Patent Number
E-19400
NASA/TM-2017-219549
GRC-E-DAA-TN26647
Meeting Information
Earth and Space Conference 2016(Orlando, FL)
Funding Number(s)
CONTRACT_GRANT: NNC14VF98P
WBS: WBS 647280.04.03.20
Distribution Limits
Public
Copyright
Public Use Permitted.
Keywords
wheel
roving vehicle
wheel slip
terramechanics
slope climbing
mobility

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