Analysis of traction trafficability of diameter-variable wheel for planetary rover
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摘要: 提出了一种可变直径轮深空探测车,其具有结构紧凑、越障能力强、重心低、运行平稳等优点.考虑了月球重力环境和月壤的力学特性,应用基于贝克模型的地面力学理论,分析了深空探测车可变直径车轮与月壤间的相互作用,对轮片展开和车轮下陷做了合理的简化,对不同滑转条件下探测车轮的挂钩牵引力、驱动力矩和驱动效率进行了计算,结果表明车轮的展开减小了推土阻力,车轮的挂钩牵引力和驱动效率都比车轮收缩状态有了明显的提高,并获得了使驱动效率达到最大值的滑转率的范围.Abstract: A planetary rover with diameter-variable wheels was represented which has advantages of compact structure, good climbing obstacle capability, low gravity center, and traveling stability. In consideration of lunar gravity environment and mechanical property of lunar regolith, the interaction between diameter-variable wheel and lunar regolith was analyzed by means of Bekker equation of terramechanics. The extended wheel model and sinkage were simplified, and the drawbar pull, driven torque, as well as driven efficiency of rover wheel were calculated under different slip conditions. The analytical result shows that the extended wheel reduces the bulldozing resistance, the drawbar pull and driven efficiency increase compared with that of folded wheel configuration. The range of slip for maximal driven efficiency has been obtained.
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