Work

Experimental research of planetary rover entrapment on sandy terrain

Year: 2026

Type: article

Abstract: Trafficability of wheeled rovers on loose and rough terrain is essential for planetary exploration missions. Existing studies mainly focused on wheel–soil interaction modeling, terramechanics simulation and motion control, yet full-vehicle experimental investigations into planetary rover entrapment on sandy terrain and its underlying mechanisms remain comparatively limited. In this work, experiments were conducted using a four-wheeled planetary rover prototype in a sand bin, where planetary-surface analog environments including wheel embedding, sand covering, and slope climbing were reproduced. Experimental data were evaluated using effect size in analysis of variance. Recoverable and entrapped cases were then explained from the perspective of wheel–soil interaction. Rover entrapment originates from a persistently closed soil-enveloping region around the wheels. A regional soil-mass conservation pattern is proposed to explain the entrapment mechanism: within this soil-enveloping region, terrain mechanical property is severely damaged, and wheel traction is consumed to transport soil rather than generate traction force. The transported soil re-enters the enveloped region, maintaining soil-enveloping confinement. These findings provide a reference for entrapment-risk identification and recovery-strategy design for planetary rovers.

Source: Results in Engineering

DOI: 10.1016/j.rineng.2026.113674