关键词: 地面力学模型, 仿真, 坡路行驶, 月球车

Abstract: The slopes are a typical terrain of the rugged lunar surface. Based on wheel-terrain interaction, a terramechanics model for slope travel of a lunar rover is established. In order to describe the soil sinkage of different wheels, the deformation of the front wheels on the lunar soil is taken into account and a sinkage rate coefficient is proposed. Thus the 3D visualization simulation platform of lunar rove is established. By comparing the real lunar rover prototype test results and simulation test results, the effectiveness of the virtual simulation is verified. With the analysis of the course of the lunar rover climbing up the slope, it can be concluded that when the slope angle exceeds 26.6°, the motion control strategy aimed at obstacle avoidance should be adopted. When the wheels have enough traction, the wheel’s rotating speed can be controlled, so as to carry out the motion control strategy which can enable the lunar rover to run at the optimal slip rate with the maximum driving efficiency.

Key words: Lunar rover, Simulation, Slope traversal, Terramechanics model