Supplementary data and modeling code file for: Soft deployable airless wheel for lunar lava tube in-tact exploration

Lunar pits and lava tubes hold promise for future human habitation, offering natural protection and stable environments. However, exploring these sites entails challenging terrain, including steep slopes along cave funnels and vertical cliffs. Here, we present a soft, deployable airless wheel to address these challenges. By achieving a high deployment ratio, multiple rovers can be stowed efficiently without sacrificing mobility, thereby improving mission reliability and flexibility. The proposed wheel incorporates a reconfigurable reciprocal structure of elastic steel strips arranged in a woven helical pattern, enabling shape transformations while preserving load-bearing capacity. This reciprocal arrangement also allows for safe vertical descents and mitigates damage from accidental falls within caves. By distributing strain throughout the wheel’s body, reliance on delicate mechanical components is minimized—a critical advantage under extreme lunar conditions. The wheel can be stowed at..., , # Supplementary data and modeling code file for: Soft deployable airless wheel for lunar lava tube in-tact exploration

Dataset DOI: [10.5061/dryad.tdz08kqb4](https://doi.org/10.5061/dryad.tdz08kqb4)

## Description of the data and file structure

This dataset contains all primary experimental raw data and modeling code for the study “Soft Deployable Airless Wheel for Lunar Lava Tube In-tact Exploration.” The data were collected to (1) develop and theoretically analyze the proposed soft deployable wheel using a cantilever beam model (Fig. 3A), and based on that analysis, to experimentally validate (2) deployment/storage torque characteristics (Fig. 3B) and (3) vertical load–displacement responses (Fig. 3C). We further (4) evaluate changes in storage torque and vertical stiffness before and after thermal-vacuum and drop-impact tests (Figs. 6E and 6F), and (5) measure drawbar pull force–slip and wheel driving torque–slip ratio in a simulated lunar-regolith (Fig. 7), thereby verifying the ...,

月球坑与熔岩管（Lunar pits and lava tubes）具备成为未来人类驻留地的潜力，可提供天然防护与稳定的环境。然而，对这类区域开展探测面临着复杂地形挑战，包括洞穴漏斗状结构处的陡坡与垂直峭壁。为此，本文提出一款软质可展开无气车轮（soft deployable airless wheel）以应对上述难题。该车轮具备较高的展开比，可在不牺牲机动性能的前提下实现多台漫游车的高效收纳，进而提升任务可靠性与灵活性。所提出的车轮采用编织螺旋排布的弹性钢带可重构互锁结构，能够在保持承载能力的同时实现形态变换。这种互锁结构同样可支持安全的垂直下降作业，并降低洞穴内意外坠落带来的损坏风险。通过将应变分散至整个车轮结构，可大幅减少对精密机械部件的依赖——这在极端月球环境下是一项关键优势。该车轮可被收纳于……
# 补充数据与建模代码文件对应论文：《用于月球熔岩管完整探测的软质可展开无气车轮》
数据集DOI：[10.5061/dryad.tdz08kqb4](https://doi.org/10.5061/dryad.tdz08kqb4)

## 数据与文件结构说明
本数据集包含本研究《用于月球熔岩管完整探测的软质可展开无气车轮》的全部核心实验原始数据与建模代码。本次数据采集旨在完成五项工作：(1) 采用悬臂梁模型（cantilever beam model）对所提出的软质可展开车轮进行开发与理论分析，并基于该分析完成实验验证；(2) 测试展开/收纳扭矩特性（图3B）；(3) 测试垂直载荷-位移响应（图3C）；(4) 评估热真空试验（thermal-vacuum test）与落锤冲击试验（drop-impact test）前后收纳扭矩与垂直刚度的变化（图6E与6F）；(5) 在模拟月球壤（lunar-regolith）环境下测量牵引杆拉力-滑移量与车轮驱动扭矩-滑移率关系（图7），以此验证……