深空探测车单轮牵引性能的离散元仿真

李雯; 高峰; 贾阳; 孙鹏

深空探测车单轮牵引性能的离散元仿真

李雯¹,
高峰¹,
贾阳²,
孙鹏³

1.
北京航空航天大学交通科学与工程学院, 北京 100083
2. 中国空间技术研究院总体部空间科学与深空探测总体研究室, 北京 100094
3. 北京航空航天大学交通科学与工程学院, 北京 100083

基金项目: 高等学校博士学科点专项科研基金资助项目(20070006012)

详细信息

中图分类号: V 476.4
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出版历程
- 收稿日期: 2007-05-10
- 网络出版日期: 2008-05-31

Numerical simulation of tractive performance for planetary rover vehicle wheel by discrete element method

1.
School of Transportation Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
2. Division of Space Science and Deep Space Exploration, China Academy of Space Technology Institute of Spacecraft System Engineering, Beijing 100094, China
3. School of Transportation Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

摘要

摘要: 利用离散元数值分析方法,对矩形、直角梯形和三角形截面轮齿车轮与土壤颗粒单元的相互作用进行仿真研究.分析细观尺度下,土壤颗粒单元受3种轮齿车轮扰动后的接触反力分布规律.采用坐标转换和代数求和的数学方法,建立细观离散元分析结果与宏观车轮牵引性能参数的对应关系,推导土壤推力、行驶阻力及其挂钩牵引力的表达式,以研究轮齿截面的几何形状对车轮牵引性能的影响.计算结果表明,在相同行驶环境下,直角梯形轮齿车轮具有最佳的牵引性能.
- 深空探测车 /
- 牵引性能 /
- 通过性 /
- 离散单元法
Abstract: The numerical simulation for wheel-soil interaction was conducted by discrete element method (DEM) where the grouser-sections of wheels were rectangle, rec-trapezia, and triangle respectively. The distribution of contact reaction for soil particles was analyzed in the granular scales when they are disturbed by different lugged-wheel configurations. The relationship between microscopic results of DEM and macroscopic parameters of tractive performance was built by means of coordinates transformation and algebraic summation. The formulae of soil thrust, motion resistance and drawbar pull were derived respectively in order to study the influence of grouser-section shape upon tractive performance of wheel. The calculated results show that the wheel with rec-trapezia-section grousers possesses the best tractive performance among the three kinds of lugged-wheel configurations in the same traveling condition.
- planetary rover vehicle /
- tractive performance /
- trafficability /
- discrete element method

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参考文献(1)

[1] Nakashima H, Fujii H, Oida A. Parametric analysis of lugged wheel performance for a microrover by means of DEM [J]. Journal of Terramechanics, 2007, 44: 153-162 [2] Shibly H, Iagnemma K, Dubowsky S. An equivalent soil mechanics formation for rigid wheels in deformable terrain, with application to planetary exploration rovers[J]. Journal of Terramechanics, 2005, 42: 1-13 [3] Patel N, Scott G P. Application of bekker theory for planetary exploration through wheeled, tracked and legged vehicle locomotion . AIAA-2004-6091, 2004 [4] 郑永春,欧阳自远,王世杰,等.月壤的物理和机械性质[J].矿物岩石, 2004, 24(4): 14-19 Zheng Yongchun, Ouyong Ziyuan, Wang Shijie, et al. Physical and mechanical properties of lunar regolith[J].Journal of Mineralogy and Petrology, 2004, 24(4):14-19(in Chinese) [5] Zhang D, Whiten W J. A new calculation method for particle motion in tangential direction in discrete element simulations[J]. Power Technology, 1999, 102: 235-243 [6] Liu Sihong, Lu Tinghao. Microscopic shear mechanism of granular materials in simple shear by DEM[J]. Chinese Journal of Geotechnical Engineering, 2000, 22(5): 608-611 [7] Oida A, Momozu M. Simulation of soil behavior and reaction by machine part by means of DEM[J].Agricultural Engineering International: the CIGR Journal of Scientific Research and Development,2002, 4: 1-7 [8] Asaf Z, Rubinstein D, shmulevich I. Determination of discrete element model parameters required for soil tillage[J]. Soil & Tillage Research,2007, 92: 227-242

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