Experiments of wheeled rovers in a sandbox covered with loose soil

The lunar and Martian surfaces are covered with loose soil, and the wheels of rovers can get stuck on such surfaces. To avoid the problem, it is necessary to conduct thorough investigations into the contact and traction mechanics between the wheels and the soil. To this end, we conduct various experiments using wheeled rovers in a sandbox covered with loose soil. In the experiments, the slippage and sinkage of wheels with various geometries are measured. Based on these experimental observations, analysis and modelling of the motion behavior of wheels ensued.