• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2015, Vol. 51 ›› Issue (18): 99-107.doi: 10.3901/JME.2015.18.099

• 可再生能源与工程热物理 • 上一篇    下一篇

星球车车轮纵向滑移试验研究

丁亮1, 郭军龙1, 闫冰2, 高海波1, 刘振1, 李楠1, 杨怀广1, 邓宗全1   

  1. 哈尔滨工业大学机器人技术与系统国家重点实验室 哈尔滨 150001; 北京宇航系统工程研究所 北京 100076
  • 出版日期:2015-09-15 发布日期:2015-09-15
  • 基金资助:
    新世纪优秀人才支持计划(NCET-10-0055)、国家重点基础研究发展计划(973计划,2013CB035502)、国家自然科学基金(51275106/61370033)、“111”工程(B07018)、哈尔滨市杰出青年基金(2014RFYXJ001)、黑龙江省博士后青年英才计划(LBH-TZ0403)和机器人技术与系统国家重点实验室开放基金(SKLRS201501B/SKLRS201401A01)资助项目

Longitudinal Skid Experimental Investigation for Wheels of Planetary Exploration Rovers

DING Liang1, GUO Junlong1, YAN Bing2, GAO Haibo1, LIU Zhen1, LI Nan1, YANG Huaiguang1, DENG Zongquan1   

  1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001;Beijing Research Institute of Aerospace System Engineering, Beijing 100076
  • Online:2015-09-15 Published:2015-09-15

摘要: 星球车运行于松软星球表面时,易发生滑转和滑移。在下坡或制动等情况下,车轮实际前进速度大于理论前进速度,车轮将处于滑移状态。目前的研究主要针对滑转力学,而针对滑移力学的研究较少,滑移分为纵向滑移和侧向滑移。用试验的方法研究与星球车相关的多种因素对星球车车轮纵向滑移试验结果的影响。在车轮性能测试台上安装不同构型的车轮,研究车轮半径、轮刺个数、前进速度和垂直载荷对车轮纵向滑移力学特性的影响规律。纵向滑移试验结果表明,前进速度的增加对沉陷量和轮地作用力/力矩的影响较小;电动机输出力矩绝对值随车轮半径的增加而增加;前进阻力绝对值随垂直载荷的增加而增加;前进阻力系数随滑移率的增加而增加,车轮下的坡度角越大,需要的前进阻力系数越大;电动机输出力矩在滑移率从0增加到0.2时的变化速率,远大于其在滑移率从0.2增加到0.6时的变化速率。

关键词: 轮地作用力/力矩, 下坡能力, 星球车, 纵向滑移试验

Abstract: Wheels will slip or skid when planetary exploration rovers traversing on soft deformable terrain. Wheel’s real forward velocity is larger than its theoretical forward velocity when planetary rovers brake or move down a slope, and wheel will be in skid. Skid covers longitudinal skid and lateral skid. Recent literatures most focus on wheel-soil interaction in slip, but skid mechanics has rarely been carried out. The influences of many factors related to planetary exploration rovers on longitudinal skid experimental results were studied using experiments. Install wheels with different configuration to wheel performace test−bed to study the influences of wheel radius, lug number, forward velocity and vertical load. Experimental results show that:The increasing of forward velocity has small influence on wheel sinkage, forward resistance force and electromotor output torque; Absolute values of electromotor output torque increase with the increasing of wheel radius; Absolute values of forward resistance force increase with the increasing of vertical load; Resistance force coefficient increases with the increasing of skid ratio and larger downhill angle needs larger skid ratio; The change rate of electromotor output torque when skid ratio ranges from 0 to 0.2 is bigger than that when skid ratio ranges from 0.2 to 0.6.

Key words: downhill ability, longitudinal skid experiments, planetary exploration rover, wheel-soil interaction force/torque

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