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  • ISSN：0577-6686
机械工程学报

机械工程学报 ›› 2017, Vol. 53 ›› Issue (8): 99-108.doi: 10.3901/JME.2017.08.099

• 制造工艺与装备 • 上一篇    下一篇

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星球车车轮原地转向沉陷试验及模型研究

杨怀广, 丁亮, 高海波, 郭军龙, 邓宗全, 刘振, 吕焱   

  1. 哈尔滨工业大学机器人技术及系统国家重点实验室 哈尔滨 150080
  • 出版日期:2017-04-15 发布日期:2017-04-15
  • 作者简介:杨怀广，男，1991年出生，博士研究生。主要研究方向为星球车轮地作用力学。E-mail：young-yhg@126.com丁亮(通信作者)，男，1980年出生，博士，教授，博士研究生导师。主要研究方向为主要研究方向为机器人地面力学及应用。E-mail：liangding@hit.edu.cn
  • 基金资助:
    * 国家自然科学基金(61370033)、机器人技术与系统国家重点实验室自主课题(SKLRS201401A01)、黑龙江省博士后青年英才计划(LBH-TZ0403)、中央高校基本科研业务专项资金(HIT; BRETIII.201411)和“111”创新引智计划(B07018)资助项目; 20160210收到初稿，20170116收到修改稿;

Experimental Study and Modeling of Wheel’s Steering Sinkage for Planetary Exploration Rovers

YANG Huaiguang, DING Liang, GAO Haibo, GUO Junlong, DENG Zongquan, LIU Zhen, Lü Yan   

  1. State Key Laboratory of Robotics and System， Harbin Institute of Technology， Harbin 150080
  • Online:2017-04-15 Published:2017-04-15

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摘要：

星球车转向沉陷量是其转向力学研究的基础，可以对星球车转向机构设计、车轮转向控制及仿真提供支持。利用星球车单轮测试台进行车轮原地转向沉陷量测试试验，分析了垂直载荷和轮刺高度等因素对沉陷量的影响。结合试验数据对传统转向沉陷量模型进行分析，发现通过改变沉陷指数可以极大的提高沉陷量的计算精度。进而对沉陷指数进行辨识和分析，并推导出两种沉陷指数的理论计算模型。基于沉陷指数模型推导了修正的沉陷量计算模型，其对于沉陷量的预测结果与试验数据相比最大相对误差约为5%，确定系数大于0.97，证明该模型可以反映车轮转向过程中由于土壤压实和流动等因素引起的动态沉陷。

关键词: 变沉陷指数, 车轮转向, 沉陷量, 星球车, 地面力学

Abstract:

Steering sinkage of planetary exploration rover’s wheel is the basis of its steering mechanics, which can in turn be used to the steering mechanism design, control and simulation of rovers. Systematic steering experiments are carried out using a single-wheel testbed to analyze the influence of different vertical loads, lug heights, etc. The conventional model of steering sinkage is analyzed based on the experimental results, and the conclusion that changing the sinkage exponent can fit the dynamic variety of the sinkage is obtained. Further more, two sinkage-exponent models are obtained after analyzing and identifying the experimental results. The improved steering sinkage model is deduced by the two sinkage-exponent models, and by comparing the improved wheel sinkage model with the experimental results, it is found that the error is less than 5% and theR-squares are more than 0.97, which proves the improved model can fit the dynamic steering sinkage caused by soil compression and lateral flow during the period of wheel steering.

Key words: planetary exploration rovers, sinkage, variable sinkage-exponent, wheel steering, terramechanics

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