An emerging paradigm is being embraced in the conceptualization of future planetary exploration missions. Ambitious objectives and increasingly demanding mission constraints stress the importance associated with faster surface mobility. Driving speeds approaching or surpassing 1 m/s have been rarely used and their effect on performance is today unclear. This study presents experimental evidence and preliminary observations on the impact that increasing velocity has on the tractive performance of planetary rovers. Single-wheel driving tests were conducted using two different metallic, grousered wheels-one rigid and one flexible-over two different soils, olivine sand and CaCO3-based silty soil. Experiments were conducted at speeds between 0.01-1 m/s throughout an ample range of slip ratios (5-90%). Three performance metrics were evaluated: drawbar pull coefficient, wheel sinkage, and tractive efficiency. Results showed similar data trends among all the cases investigated. Drawbar pull and tractive efficiency considerably decreased for speeds beyond 0.2 m/s. Wheel sinkage, unlike what published evidence suggested, increased with increasing velocities. The flexible wheel performed the best at 1m/s, exhibiting 2 times higher drawbar pull and efficiency with 18% lower sinkage under low slip conditions. Although similar data trends were obtained, a different wheel-soil interactive behavior was observed when driving over the different soils. Overall, despite the performance reduction experienced at higher velocities, a speed in the range of 0.2-0.3 m/s would enable 5-10 times faster traverses, compared to current rovers driving capability, while only diminishing drawbar pull and efficiency by 7%. The measurements collected and the analysis presented here lay the groundwork for initial stages in the development of new locomotion subsystems for planetary surface exploration. At the same time...

翻译：一种新兴范式正被纳入未来行星探索任务的概念设计中。雄心勃勃的任务目标与日益严苛的任务约束，凸显了提高地表移动速度的重要性。当前，接近或超过1 m/s的行驶速度鲜有使用，且其对性能的影响尚不明确。本研究通过实验证据与初步观测，揭示了速度提升对行星漫游车牵引性能的影响。采用两种不同的金属履刺轮（一种刚性轮与一种柔性轮），在两种土壤（橄榄石砂与基于CaCO₃的粉质土壤）上开展了单轮驱动测试。实验在0.01–1 m/s的速度范围内，覆盖了广泛的滑转率区间（5–90%），并对三项性能指标进行了评估：牵引系数、车轮沉陷量与牵引效率。结果表明，所有研究案例的数据趋势相似。当速度超过0.2 m/s时，牵引力与牵引效率显著下降；与已有文献证据相反，车轮沉陷量随速度增加而增大。在低滑转条件下，柔性轮在1 m/s时表现最优，其牵引力与效率提高2倍，沉陷量降低18%。尽管数据趋势相似，但在不同土壤上行驶时观测到车轮-土壤交互行为存在差异。总体而言，尽管高速行驶导致性能下降，但相较于当前漫游车的行驶能力，0.2–0.3 m/s的速度范围可使通行速度提升5–10倍，而仅使牵引力与效率降低7%。本研究采集的测量数据与分析为行星表面探测新型移动子系统的初步开发奠定了基础。同时……