Grouser wheels have been used in planetary rovers to improve mobility performance on sandy terrains. The biggest difference between a wheel with and without grousers is the soil behavior beneath the wheel as the grousers shovel the soil. By analyzing the soil flow, we gain insight into the mechanics dominating the interaction between the wheel and the soil, directly impacting performance. As the soil flow varies depending on the soil properties, the effects of soil type on soil behavior and wheel-traveling performance should be studied. This paper reveals the difference in soil flow and wheel performance on cohesive and non-cohesive soils. We conducted a series of single wheel tests over different types of soils under several wheel-traveling conditions. Soil flow was visualized by using particle image velocimetry (PIV). The experimental results indicate that soil flow characteristics highly depend on the shear strength of the soil. The cohesive soil exhibited lower fluidity due to its higher shear strength. At the same time, the wheel displayed a higher traveling performance over the cohesive soil, that is, a lower slip ratio.

行星轮上已使用了松紧轮，以改善在沙质地形上的机动性。带或不带松土器的车轮之间最大的区别是，在松土器铲土时，车轮下方的土壤行为。通过分析土壤流，我们可以深入了解控制车轮和土壤之间相互作用的机械原理，从而直接影响性能。由于土壤流量随土壤特性而变化，因此应研究土壤类型对土壤行为和车轮行驶性能的影响。本文揭示了粘性和非粘性土壤在土壤流动和砂轮性能方面的差异。我们在几种车轮行驶条件下对不同类型的土壤进行了一系列单轮测试。通过使用粒子图像测速仪（PIV）可视化土壤流量。实验结果表明，土壤流动特性高度依赖于土壤的抗剪强度。粘性土由于其较高的剪切强度而表现出较低的流动性。同时，车轮在粘性土壤上表现出较高的行驶性能，即滑移率较低。