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1、Chapter4MobilityonPlanetarySurfaces4.1MobilityExplorationvehicles,eithermannedorautomatic,canuseavarietyofmeansoflocomotiontoachievetheirgoal.Afirstdistinctionmustbemadebetweengroundvehicles,i.e.vehiclessupportedbyasolidsurface,atmosphericorseavehicles,i.e.v
2、ehiclesthatmoveinafluidwithoutcontactwiththesurface,beitagasoraliquid,andspacevehiclesthatmoveinthevacuumofspaceclosetothesurface.Theperformanceofgroundvehiclesisusuallydefinedintermsof•trafficability,definedasitsabilitytotraversedifficultsoilwithoutlossoftracti
3、onorevencompletelossofmobility,•maneuverability,whichdefinestheabilityofthevehicletonavigatethroughtheenvironment,and•terrainability,whichdefinestheabilitytonegotiateterrainirregularities.Groundvehiclesmaybesupportedandpropelledby•wheels,•tracks,•legs,or•snak
4、elikedevices.Othermeansoflocomotion,oftenreferredtoasunconventional,maybeused.Theyinclude,butdonotreduceto,magneticsuspension,air-cushions,hoppingde-vicesandballoon(spherical)wheels.Oftenthedevicesthatinsuremobility(wheels,tracksetc.)arereferredtoastherunni
5、nggearofthevehicle.Vehiclesmovinginfluidsmaybesupportedbyaerostatic(ingeneralfluidostatic)oraerodynamic(ingeneralfluid-dynamic)forces.Alsoherethereareotheralterna-tiveslikejetsustentation.Finally,vehiclesmovinginspaceclosetothesurfaceofanairlessbodyliketheMoon
6、areoftenreferredtoashoppers,sincetheytakeoffunderrocketpropulsion,performaparabolicflightandthenlandbrakedbythesamerocketusedtotakeoff.Hopperscanalsobepropelledbyspringsorelectromagneticactuators,particularlyG.Genta,IntroductiontotheMechanicsofSpaceRobots,Sp
7、aceTechnologyLibrary26,153DOI10.1007/978-94-007-1796-1_4,©SpringerScience+BusinessMediaB.V.20121544MobilityonPlanetarySurfacesinthecaseoflowgravitybodies.Otherpossibilitieslikeelectromagneticpropulsionhavebeenproposedbutseldomstudiedindetail.4.2Vehicle–Grou
8、ndContactAllwheeled,trackedorleggedvehiclesmovingonasolidsurfaceusethecontactwiththegroundassupportmechanism,butoftenalsotogeneratetheforcesinadirectionparalleltothegroundneededforpropulsion.Normalandt
