This paper provides a quantitative analysis of the resistance force of the locked-wheel for push-pull locomotion rovers using intentional sinkage. Our previous study has confirmed that push-pull locomotion using intentional subsidence at an initial position can contribute to improving the traveling performance. The key factor of this scheme is the resistance force of the locked-wheel. However, the resistance force at different sinkage conditions and wheel sizes (e.g., mass, width, and diameter) remains unclear, especially for the individual locked-wheel. The detailed investigation of this interaction can contribute to the accurate estimation of rover mobility. This paper, therefore, investigates the locked-wheel and soil interaction at different sinkage conditions experimentally, especially focusing on the intentional sinkage condition. Additionally, the resistance force is considered theoretically through the knowledge based on the soil flow patterns beneath the locked-wheel. The experimental results confirmed that the resistance force of the locked-wheel rose as the initial sinkage, wheel size, and weight increases. Furthermore, the theoretical calculation suggested the resistance force increased with a similar tendency of the experimental data.

本文对有意沉降的推拉运动车的锁止轮的阻力进行了定量分析。我们以前的研究已经证实，在初始位置使用有意沉降的推拉运动可以有助于改善行驶性能。该方案的关键因素是锁轮的阻力。但是，在不同下沉条件和车轮尺寸（例如质量，宽度和直径）下的阻力仍然不清楚，尤其是对于单个锁紧轮而言。对这种相互作用的详细研究可以有助于对流动站机动性的准确估计。因此，本文通过实验研究了在不同下沉条件下的锁紧轮与土壤的相互作用，特别是在有意下沉条件下。另外，理论上通过基于锁定轮下方的土壤流动模式的知识来考虑阻力。实验结果证实，锁紧轮的阻力随着初始下沉，车轮尺寸和重量的增加而增加。此外，理论计算表明，阻力的增加趋势与实验数据相似。