月球车刚性车轮与土壤相互作用的力学模型与测试

基于车辆地面力学中土壤的承压、剪切特性以及土力学中被动土压力理论,建立了月球车刚性车轮在松软土壤上前进和转向的轮地作用力学模型;通过数值计算,分析了土壤参数变化及车轮运动滑转率变化对挂钩牵引力、驱动力矩和转向力矩的影响;设计了一套车轮性能参数测试系统,对所设计的一种刚性车轮在松软土壤上运动的力学特性进行了初步的实验测试,并与所建立的力学模型进行了验证分析.

Modeling and Measurement of Rigid Wheel-soil Interaction for a Lunar Rover

Based on soil's press-sinkage and shear models of terramechanics and passive earth pres- sure of soil mechanics,mathematical models of wheel-soil interaction are constructed for a rigid wheel of lunar rover moving or steering on deformable soil.For analysis of effect of soil parameters and wheel slips to rigid wheel locomotion,the wheel's performance parameters on different soil are com- puted through these models,such as drawbar pull,moving torque and steering torque to different slips.A novel test-bed is set up to test wheel's performance parameters,and experimental results of a rigid wheel on the soil validate the effectiveness of presented models.