基于等效摩擦因数的星球车牵引性能评价及影响分析

doi:10.3901/JME.2024.24.226

机械工程学报 ›› 2024, Vol. 60 ›› Issue (24): 226-235.doi: 10.3901/JME.2024.24.226

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基于等效摩擦因数的星球车牵引性能评价及影响分析

王正印, 杨怀广, 兰清宁, 丁亮, 李楠, 高海波

哈尔滨工业大学机器人与系统全国重点实验室哈尔滨 150080

收稿日期:2024-01-09 修回日期:2024-10-10 出版日期:2024-12-20 发布日期:2025-02-01
作者简介:王正印，男，1996年出生，博士研究生。主要研究方向为颗粒介质物理与力学、机器人地面力学。E-mail：wangzhengyin_hit@163.com;杨怀广(通信作者)，男，1991年出生，博士后，副教授。主要研究方向为星球车动力学仿真、星球车地面力学。E-mail：yanghuaiguang@hit.edu.cn;丁亮，男，1980年出生，博士，教授，博士研究生导师。主要研究方向为星球车、野外足式机器人和地面力学。E-mail：liangding@hit.edu.cn
基金资助:
国家自然科学基金资助项目(52202498, 52302473, 52402498)。

Traction Performance Evaluation and Influence Analysis of Planetary Rover Based on Equivalent Friction Coefficient

WANG Zhengyin, YANG Huaiguang, LAN Qingning, DING Liang, LI Nan, GAO Haibo

State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080

Received:2024-01-09 Revised:2024-10-10 Online:2024-12-20 Published:2025-02-01

摘要/Abstract

摘要： 随着星球巡视探测任务的复杂化，地面力学正由半经验模型向物理模型发展，新一代的星球车地面力学模型需要一种基于物理的牵引性能评价指标。针对星球车轮滑转沉陷的特点，分析沉陷量对轮-地接触摩擦因数的影响，提出等效摩擦因数作为牵引性能评价指标。设计单轮测试试验，得到车轮等效摩擦因数随滑转率呈现先增后减的变化趋势，等效摩擦因数的变化规律表明，星球车轮牵引力的增加是以沉陷量的增大为代价，而当滑转率超过最优驱动滑转率时，单位下沉所能提供的牵引力增量将减少，陷车的风险将增加。考虑载荷对车轮牵引性能的影响，利用二元线性方程建立了纵滑体积刚度与载荷的关系。在模拟星壤、石子以及石板地形上验证等效摩擦因数的有效性，试验结果表明，等效摩擦因数对不同车轮构型、运动以及地形条件下的车轮牵引性能均可进行定量评价。等效摩擦因数可以为星球车的驱动控制和风险预警提供参考。

关键词: 星球车轮, 牵引性能, 摩擦因数, 评价指标, 载荷

Abstract: With the complexity of planetary patrol exploration missions, terramechanics is evolving from a semi-empirical model to a physical model, and the next generation of terramechanics models for planetary rovers requires a physics-based traction performance evaluation index. In response to the wheel slip-sinkage of planetary rover, the equivalent friction coefficient, which presents the influence of sinkage on the wheel-soil friction coefficient, has been proposed to evaluate the traction performance. The single wheel test was implemented, and the wheel equivalent friction coefficient increasing and then decreasing with the slip ratio. The variation trend of equivalent friction coefficient shows that the increase of wheel’s traction force is at the cost of the increase of the sinkage. When the slip ratio exceeds the optimum value, the traction increment provided by the unit sinkage will be reduced, and the risk of vehicle sinkage will increase. Considering the effect of load on wheel traction performance, the relationship between longitudinal slip volume stiffness and load is established using a binary linear equation. The validity of the equivalent friction coefficient was verified on planetary soil simulant, gravel, and slate terrain. The test results showed that the equivalent friction coefficient can be quantitatively evaluated for wheel traction performance under different wheel configurations, motions, and terrain conditions. The equivalent friction coefficient can provide reference for the drive control and risk warning of the planetary rover.

Key words: planetary rover wheel, traction performance, friction coefficient, evaluation indicators, load

中图分类号:

王正印, 杨怀广, 兰清宁, 丁亮, 李楠, 高海波. 基于等效摩擦因数的星球车牵引性能评价及影响分析[J]. 机械工程学报, 2024, 60(24): 226-235.

WANG Zhengyin, YANG Huaiguang, LAN Qingning, DING Liang, LI Nan, GAO Haibo. Traction Performance Evaluation and Influence Analysis of Planetary Rover Based on Equivalent Friction Coefficient[J]. Journal of Mechanical Engineering, 2024, 60(24): 226-235.

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基于等效摩擦因数的星球车牵引性能评价及影响分析

Traction Performance Evaluation and Influence Analysis of Planetary Rover Based on Equivalent Friction Coefficient

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