| 引用本文: | 邓宗全,丁亮,高海波,陶建国,王少谦.月壤特性对月球车轮地相互作用力的影响[J].哈尔滨工业大学学报,2010,42(11):1724.DOI:10.11918/j.issn.0367-6234.2010.11.010 |
| DENG Zong-quan,DING Liang,GAO Hai-bo,TAO Jian-guo,WANG Shao-qian.Influence of soil properties on lunar rover’s wheel-soil interaction mechanics[J].Journal of Harbin Institute of Technology,2010,42(11):1724.DOI:10.11918/j.issn.0367-6234.2010.11.010 |
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| 摘要: |
| 为了了解月壤特性变化对于月球车轮地相互作用的影响,对月壤的物理和力学特性参数进行分析,制作模拟月壤进行土壤参数测量实验和月球车轮地相互作用实验.根据实验数据及轮地相互作用力学模型进行模拟月壤参数的估计和辨识,将典型月壤参数带入模型进行理论分析和数值分析,并与试验中获取的车轮土壤相互作用数据进行对比.结果表明:土壤的承压特性参数主要影响车轮沉陷量,车轮驱动阻力矩主要受土壤的剪切特性影响,反映土壤物理特性的接触角系数变化对于轮地作用影响相对较小.该研究为进行月球车车轮力学性能的全面分析和月壤参数辨识等的应用提供了理论基础。 |
| 关键词: 月球车 轮地相互作用力 月壤 承压特性 剪切特性 |
| DOI：10.11918/j.issn.0367-6234.2010.11.010 |
| 分类号:TP242 |
| 基金项目:国家自然科学基金资助项目(50975059/61005080);国家高技术研究发展计划资助项目(2008AA04Z202);机器人技术与系统国家重点实验室自主研究课题(SKLRS200801A02);哈工大重点学科实验室开放基金课题(HIT.KLOF.2009060/2009060);教育部高等学校学科创新引智计划(B07018) |
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| Influence of soil properties on lunar rover’s wheel-soil interaction mechanics |
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DENG Zong-quan, DING Liang, GAO Hai-bo, TAO Jian-guo, WANG Shao-qian
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State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China
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| Abstract: |
| In order to understand the influence of lunar soil’s properties on wheel-soil interaction mechanics,physical and mechanical properties of lunar soil were analyzed;lunar soil simulant was made and experiments were performed to measure soil parameters and wheel-soil interaction mechanics.The parameters of lunar soil simulant are estimated or identified according to the experimental data.Theoretical and numerical analysis have been done by substituting typical lunar soil parameters into the model,and the results are compared with the experimental data which shows that the soil parameters of bearing property primarily influence the wheel sinkage,the resistance moment of wheel is mainly influenced by shearing property of soil,and the contact angle coefficients that can reflect the physical property of soil has relatively small influence on wheel-soil interaction. |
| Key words: lunar rover wheel-soil interaction mechanics lunar soil bearing property shearing property |
