Modelling of flexible metal wheels for planetary rover on deformable terrain
Modelling of flexible metal wheels for planetary rover on deformable terrain
复制标题
可变形地形上行星漫游车的柔性金属轮建模
DOI：
10.1016/j.tws.2019.01.047
复制
发表时间：
2019
影响因子：
6.4
通讯作者：
Su Bo
中科院分区：
文献类型：
--
作者：
Wang Song;Zou Meng;Dang Zhaolong;Chen Baichao;Zhou Tao;Su Bo
火星车是执行行星探测任务的最重要的工具之一。在易变形的地形上，牵引力受到土壤力学性质的限制；因此，缺乏牵引力和车轮打滑会给漫游车的运行带来困难。增加牵引力的一个可能的解决方案是增加车轮-地形接触区域的大小。灵活的车轮形状可以根据地形条件而变化。因此，柔性车轮在穿越易变形的地形时表现出高性能。然而，行星漫游车在可变形地形上的柔性金属轮-地形模型尚未得到详细的介绍。本文设计了一种能够定量评价柔性金属车轮在可变形地形上的下沉和牵引性能的柔性金属车轮和柔性车轮模型。该理论建立在已有方程的基础上，并得到了试验结果的验证。本文建立了静态下沉和车轮-地面动态相互作用力学模型。单轮试验结果表明，该模型具有较高的预测精度。根据计算的模型值和实验结果，与相同尺寸的刚性车轮相比，柔性车轮的拉力和扭矩明显增加，下沉量明显减少。该模型可用于预测柔性车轮的牵引性能。该研究可为行星漫游车的柔性轮设计提供参考。
Rovers are one of the most important vehicles used for conducting planetary exploration missions. On deformable terrain, traction is limited by the mechanical properties of the soil; therefore, a lack of traction and wheel slippage causes difficulties during operation of the rover. One possible solution for increasing the traction force is to increase the size of the wheel-terrain contact area. Flexible wheel forms can change depending on terrain conditions. So, flexible wheels exhibit high performance in traversing deformable terrain. However, the flexible metal wheel-terrain model for a planetary rover on deformable terrain has not yet been presented in detail. In this paper, a flexible metal wheel and a flexible wheel model that can quantitatively evaluate the sinkage and traction performance of flexible metal wheels on deformable terrain are designed. The theory has been built over the existing equations and validated with by test results. This paper establishes models for estimating static sinkage and dynamic wheel-terrain interaction mechanics. Experimental results from a single-wheel test show that the model can be used for mobility prediction with good accuracy. Based on the calculated model values and experimental results, the drawbar pull and torque of the flexible wheel clearly increases and sinkage clearly decreases compared with a rigid wheel of the same dimensions. The new model can be used to predict the traction performance of flexible wheels. This study can provide a reference for the flexible wheel design of planetary rovers.