北京航空航天大学学报 ›› 2007, Vol. 33 ›› Issue (12): 1408-1411.

• 论文 • 上一篇    下一篇

一种新型轮爪式车轮设计与性能仿真

岳荣刚,王少萍,焦宗夏,康荣杰   

  1. 北京航空航天大学 自动化科学与电气工程学院, 北京 100083
  • 收稿日期:2006-12-21 出版日期:2007-12-31 发布日期:2010-09-17
  • 作者简介:岳荣刚(1980-),男,山东青州人,博士生,beijing2008-v@126.com.
  • 基金资助:

    "新世纪优秀人才支持计划"资助项目(NCET-04-0168); 教育部111计划资助项目;北京市教改项目

Design and performance simulation of a new type wheel with claws

Yue Ronggang, Wang Shaoping, Jiao Zongxia, Kang Rongjie   

  1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
  • Received:2006-12-21 Online:2007-12-31 Published:2010-09-17

摘要: 针对当前行星探测车车轮的缺点和不足,结合行星表面的复杂环境,设计了一种新型轮爪式行星探测车车轮,其主要创新点在于车轮的轮爪.对新型车轮进行了受力分析,推导出车轮平稳运动的条件,为设计者提供了一定的理论依据.用Pro/ENGINEER软件建立了探测车的三维模型,并用ADAMS(Automatic Dynamic Analysis of Mechanical Systems)软件对行星车进行了运动学和动力学仿真.仿真结果表明新型车轮具有较强的越障能力,可以翻越高度超过车轮半径1.4倍的台阶,也可以跨越宽度超过车轮直径的壕沟,能够适应各种地形环境,基本克服了当前行星探测车车轮存在的缺点和不足.

Abstract: Aiming at the disadvantages of current planetary rover wheel, a new type climbing obstacle wheel with claws was designed according to the complex planetary surface environment. Its main innovation is the claw on wheel. Mechanics analysis of the new type climbing obstacle wheel was computed, and the steady running condition was deduced. It offered designers several theory foundations. A three-dimensional planetary rover model with the new type climbing obstacle wheels was built by Pro/ENGINEER software, and kinematic and dynamic simulation of the wheel was given by ADAMS(automatic dynamic analysis of mechanical systems) software. The simulation results show that the new type wheel has strong crossing obstacle capabilities. It can scale the step whose height is 1.4 times than the wheel radius, and can adapt itself to all kinds of rough and uneven terrain environment. The new type wheel overcomes disadvantages and shortages of current rover wheels.

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