DEM–FEM simulation of steering performance of flexible metal wheel for staffed lunar rover

Abstract. In this paper, a wheel–soil coupling simulation system was constructed to simulate the interaction between the flexible metal wheels of a staffed lunar rover during steering maneuvers. The wheel model was developed using the finite element method, and the lunar soil simulant model was created using the discrete element method. This system can accurately reproduce the discontinuous characteristics of lunar soil simulant and the deformation characteristics of flexible wheels, and simulations were conducted under Earth gravity (1g) and Moon gravity (1/6g) conditions. The results indicated that under these gravity conditions, the average differences in sinkage, drawbar pull, and lateral forces were 12.35 %, 76.60 %, and 83.23 %, respectively. These findings suggest that the impact of gravity on sinkage is limited, whereas its influence on drawbar pull and lateral force is significant. This phenomenon occurs because, as gravity decreases, both the wheel load and the bearing capacity of the lunar soil diminish, leading to a cancellation of their effects on the sinkage amount.