| 轮缘半径对月球车鼓形轮原地转向阻力矩影响分析 |
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| 引用本文： | 刘吉成,高海波,邓宗全.轮缘半径对月球车鼓形轮原地转向阻力矩影响分析[J].南京理工大学学报(自然科学版),2009,33(4). |
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| 作者姓名： | 刘吉成 高海波 邓宗全 |
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| 作者单位： | 哈尔滨工业大学,机电工程学院,黑龙江,哈尔滨,150001 |
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| 基金项目： | 国家"863"资助项目，黑龙江省自然科学基金 |
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| 摘 要： | 为了给月球车的车轮构型设计、运动控制、模拟仿真等提供理论参考,基于地面力学理论,提出鼓形车轮下陷量判断方法,研究了其转向时轮-地接触的剪切特性与推土特性,并建立鼓形车轮原地转向的力学模型.理论分析表明:转向阻力矩随轮缘半径的增加而呈渐近线性增加.轮缘半径越小,车轮的转向阻力矩越小,使鼓形车轮较圆柱车轮具有更好的转向灵活性.利用月球车车轮运动性能测试系统对2种轮缘半径的车轮进行了原地转向实验,实验结果表明了该理论模型的正确性.
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| 关 键 词： | 地面力学 转向力学模型 轮缘半径 月球车 车轮 |
Influence of Rim Radius on Zero Radius Steering Resistance Moment of Drum-wheel for Lunar Rover |
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| LIU Ji-cheng,GAO Hai-bo,DENG Zong-quan.Influence of Rim Radius on Zero Radius Steering Resistance Moment of Drum-wheel for Lunar Rover[J].Journal of Nanjing University of Science and Technology(Nature Science),2009,33(4). |
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| Authors: | LIU Ji-cheng GAO Hai-bo DENG Zong-quan |
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| Institution: | School of Mechatronics Engineering;Harbin Institute of Technology;Harbin 150001;China |
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| Abstract: | In order to provide a theoretical basis for wheel configuration design,motion control,vehicle simulation of a lunar rover,based on the terramechanics,a judgment method for sinkage of a drum wheel is presented.The shear and bulldozing characteristics acting on the interaction of wheel-soil for the steering wheel are investigated,and a zero radius steering mechanical model for the drum-wheel is established.Theoretical analysis reveals that the steering resistance moment increases asymptotically with the incre... |
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| Keywords: | terramechanics steering mechanical models rim radiuses lunar rovers wheels |
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