月球车不等径车轮在土壤上滚动的力学分析与实验

月球车车轮的结构特征及其与土壤相互作用的力学特性对月球车的运动性能有着重要的影响.文中研制了一种具有抗侧滑特性的月球车不等径刚性车轮.基于车辆地面力学中车轮与土壤间的承压、剪切特性理论,提出了该不等径刚性车轮与松软土壤上滚动作用的修正模型,并采用迭代算法对车轮外形参数与力学特性参量的相互关系进行了计算和对比分析.利用Reece强制滑转原理设计了一套实验装置,进行了不等径刚性车轮在松软土壤上滚动的力学特性参量测试,验证了所建立模型的正确性.

Analysis of wheel-soil interaction of rolling wheels with different diameters on a lunar rover

The performance of a lunar rover is significantly affected by the structure of its wheels and their mechanical behavior.To find what structure is best,rigid lunar rover wheels which resist sideslip were developed using a number of different diameters.A modified mathematical model for wheel-soil interaction of these wheels on soft soil was constructed on the basis of shearing and pressure between the soil and the wheels.The relationship between the mechanical properties and structural parameters of the wheels was found by iterative algorithms and their characteristics are discussed.In order to verify the correctness of the mathematical model of the wheels,an experiment was devised based on the compulsory sliding principle proposed by Reece.Results from this experiment are discussed.