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Tests were conducted to evaluate the mobility performance of a second-generation Elastic Loop Mobility System (ELMS II). Performance on level test lanes and slopes of lunar soil simulant (LSS) and obstacle-surmounting and crevasse-crossing capabilities were investigated. In addition, internal losses and contact pressure distributions were evaluated. To evaluate the soft-soil performance, two basic soil conditions were tested: loose (LSS1) and dense (LSS5). These conditions embrace the spectrum of soil strengths tested during recent studies for NASA related to the mobility performance of the LRV. Data indicated that for the tested range of the various performance parameters, performance was independent of unit load (contact pressure) and ELMS II drum angular velocity, but was influenced by soil strength and ELMS pitch mode. Power requirements were smaller at a given system output for dense soil than for loose soil. The total system output in terms of pull developed or slope-climbing capability was larger for the ELMS II operating in restrained-pitch mode than in free-pitch mode.

A lunar soil simulant was used in research on predicting the performance of the Lunar Roving Vehicle (LRV) on the moon. The simulant was prepared from ground basaltic rock whose grain size distribution was matched to the lunar soil samples collected by Apollo 11 and 12. The strength characteristics of the simulant, i.e., internal friction angle, cohesion, and cone penetration resistance, were tested in triaxial tests, trenching tests, and cone penetration resistance tests. Subsequent soil tests and LRV performance on the moon proved that the lunar soil strength characteristics could be successfully simulated.

Six versions of the wire mesh wheel were laboratory tested in a lunar soil simulant, consisting of a crushed basalt with a grainsize distribution similar to that of samples collected during Apollo 11 and 12 flights, to determine their relative performance. The consistency of the soil was varied to cover a range of cohesive and frictional properties to simulate soil conditions assumed to exist on the moon. Programmed-slip and constant-slip tests conducted with the single wheel dynamometer system showed that the performance of the wheel covered with a metal chevron tread over 50 percent of its contact surface was slightly superior to that of other tread designs.

Two nearly identical Boeing-GM wire-mesh Lunar Roving Vehicle (LRV) wheels were laboratory tested in a lunar soil simulant to determine the influence of wheel speed and acceleration, wheel load, presence of a fender, travel direction, and soil strength on the wheel performance. Constant-slip and three types of programmed-slip tests were conducted with a single-wheel dynamometer system. Test results indicated that performance of single LRV wheels in terms of pull coefficient, power number, and efficiency were not influenced by wheel speed and acceleration, travel direction, the presence of a fender, or wheel load. Of these variables, only load influenced sinkage, which increased with increasing load. For a given slip, the pull coefficient and power number increased with increasing soil strength. However, for a given pull coefficient or slope, slip was less in firmer soil; thus, the power number decreased and efficiency increased with increasing soil strength.

Performance evaluation of lunar surface vehicle wheels in fine sand

Performance evaluation of wheels for lunar vehicles