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A thorough analysis of wheel-terrain interaction is critical to ensure thesafe and efficient operation of space rovers on extraterrestrial surfaces likethe Moon or Mars. This paper presents an approach for developing andexperimentally validating a virtual wheel-terrain interaction model for the UAERashid rover. The model aims to improve the fidelity and capability of currentsimulation methods for space rovers and facilitate the design, evaluation, andcontrol of their locomotion systems. The proposed method considers variousfactors, such as wheel grouser properties, wheel slippage, loose soilproperties, and interaction mechanics. The model accuracy was validated throughexperiments on a Test-rig testbed that simulated lunar soil conditions. Inspecific, a set of experiments was carried out to test the behaviors acted on aGrouser-Rashid rover wheel by the lunar soil with different slip ratios of 0,0.25, 0.50, and 0.75. The obtained results demonstrate that the proposedsimulation method provides a more accurate and realistic simulation of thewheel-terrain interaction behavior and provides insight into the overallperformance of the rover

Advance Simulation Method for Wheel-Terrain Interactions of Space Rovers: A Case Study on the UAE Rashid Rover