基于突弹-折返耗能机制的星球车弹性车轮设计研究

doi:10.3901/JME.260594

摘要/Abstract

摘要： 具有减振特性的弹性车轮已成为星球车车轮设计发展的重要方向。目前的弹性车轮普遍以振动隔离为主，缺乏有效的能量耗散机制，导致其在地形适应性和运动平稳性方面存在问题。为此，根据星球车实际工况构建了具有失稳特性的拱形金属板，并在此基础上设计了以突弹-折返型超结构作为轮辐的弹性车轮原型。从基本原理层面揭示了关键参数(串联弹簧刚度)对突弹-折返特性形成及调控的机制，利用集总参数模型分析了弹簧刚度对超结构耗能行为的影响，最后通过地面试验及虚拟样机分析对所设计的结构进行了性能验证。结果表明，相较于普通的弹性轮辐结构，突弹-折返型超结构轮辐在准静态加载条件下总体耗能提升288%，动态冲击下振动衰减时间减少39.2%；整体车轮在三种等效月壤接触条件下，越障后轮心位移波动标准差平均降低44.2%。理论推导与实验数据共同证实，突弹-折返机制通过结构的高频微振动实现能量耗散，可有效提升星球车轮在复杂地形下的动态稳定性。

关键词: 弹性车轮, 突弹折返, 能量耗散, 力学超结构, 星球车

Abstract: Elastic wheels with vibration-damping characteristics have become a crucial direction in the development of planetary rover wheel design. Current elastic wheels primarily focus on vibration isolation but lack effective energy dissipation mechanisms, resulting in challenges regarding terrain adaptability and motion stability. To address this, we construct arch-shaped metal plates with destabilization characteristics based on actual planetary rover operating conditions, and subsequently design an elastic wheel prototype incorporating snap-back-type metastructures as spokes. The regulatory mechanism of key parameters (series spring stiffness) on snap-back characteristics is revealed at the fundamental principle level. Through establishing a lumped parameter model, the influence of spring stiffness on the overall energy dissipation of the metastructure is thoroughly analyzed. Performance validation is ultimately conducted through ground tests and virtual prototype analysis. The results demonstrate that, compared to a common elastic spoke structure, the snap-back bistable metastructure spokes achieve an overall energy dissipation increase of 288% under quasi-static loading conditions, and reduce vibration decay time by 39.2% under dynamic impact. The complete wheel exhibits an average 44.2% reduction in standard deviation of wheel center displacement fluctuations after obstacle crossing across three simulated lunar soil conditions. Both theoretical derivation and experimental data confirm that the snap-back mechanism achieves energy dissipation through high-frequency micro-vibrations of the structure, significantly enhancing the dynamic stability of planetary rover wheels in complex terrains.

Key words: elastic wheels, snap-back, energy dissipation, mechanical metastructures, planetary rover

中图分类号:

TH122

刘瑞峰, 徐洪烨, 杨洋, 魏文明, 王永泉. 基于突弹-折返耗能机制的星球车弹性车轮设计研究[J]. 机械工程学报, 2026, 62(11): 261-271.

LIU Ruifeng, XU Hongye, YANG Yang, WEI Wenming, WANG Yongquan. Snap-back Energy Dissipation Mechanism Based Elastic Planetary Rover Wheels[J]. Journal of Mechanical Engineering, 2026, 62(11): 261-271.

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链接本文: http://www.cjmenet.com.cn/CN/10.3901/JME.260594

http://www.cjmenet.com.cn/CN/Y2026/V62/I11/261

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