Lugged wheel model considering shear characteristics

Noriaki Mizukami, Kojiro Iizuka, Yasuharu Kunii

Research output: Contribution to conferencePaperpeer-review


Soft soils cover planetary surfaces, so the wheel of a planetary rover easily slips and gets stuck. In order to prevent increase in the slip and getting stuck, the wheel can have lugs that have a shape of a paddle to improve the wheel driving force. There have been some studies about the influence of the lug. However, design method for an effective lug has not been studied well yet. Since terramechanics-based wheel models have been considered with a flat wheel surface, those models are not applicable to the lugged wheel. In this paper, a lugged wheel model is discussed and proposed regarding the variation of shear characteristics. The variation of shear characteristics is indicated by a shear deformation modulus. The proposed model is based on the shear deformation modulus that varies by the height and position of the lugs. Therefore it can be considered that the lugged wheel model has a function of the lug parameters such as the lug height and lug mounting position. A simulation is performed to evaluate the model. In results we confirmed that the model can formulate the traversability performance of the wheel and showed the validity of the proposed model.

Original languageEnglish
Publication statusPublished - 2014
Externally publishedYes
Event18th International Conference of the International Society for Terrain-Vehicle Systems, ISTVS 2014 - Seoul, Korea, Republic of
Duration: 2014 Sept 222014 Sept 25


Other18th International Conference of the International Society for Terrain-Vehicle Systems, ISTVS 2014
Country/TerritoryKorea, Republic of


  • Lugs
  • Soft soils
  • Wheel model
  • Wheel-soil interaction
  • Wheeled rovers

ASJC Scopus subject areas

  • Automotive Engineering


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