There are many unexpected events when a rover is moving on a planet surface,and subsidence is one of the most fatal events which could result in the invalidation of the rover. It is very important to research subsidence prediction and intervention measures when encountering unpredictable excessive subsidence. Function relationship between wheel and soil is linearized to establish simple drawbar pull equation for subsidence estimation. Yutulunar rover is taken as an example for revising equation by means of ...
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