机械工程学报
機械工程學報
궤계공정학보
CHINESE JOURNAL OF MECHANICAL ENGINEERING
2015年
3期
37-44
,共8页
轮腿式月球车%力学模型%足部构型参数%驱动性能%评价指标
輪腿式月毬車%力學模型%足部構型參數%驅動性能%評價指標
륜퇴식월구차%역학모형%족부구형삼수%구동성능%평개지표
wheel-legged lunar rover%mechanical model%foot configuration parameter%driving performance%evaluation index
以二级半转轮腿式月球车为研究对象，考虑月球车在松软月面上的下限问题，在轮腿的跨步杆两端各添加一个“足”，并设计出两种月球车轮腿足部构型方案，以增大足部与月壤间的有效接触面积和摩擦力。依据车辆地面力学基本理论，分析月球车的轮腿足瓣与月壤的相互作用力学特性，建立了月球车无轮刺足瓣与月壤的相互作用力学模型，在此基础上，分析了足瓣轮刺效应。提出月球车驱动性能的四个评价指标：足瓣沉陷指标、足部牵引性能指标、驱动电动机性能指标和爬坡性能指标，通过给定月壤特性参数、月球车载荷和滑转率，研究了足瓣的半径、宽度以及轮刺的高度和个数对挂钩牵引力、驱动力矩的影响。Matlab仿真表明，增大足瓣半径、宽度以及轮刺高度和个数均可以提高月球车的驱动性能，与增加足瓣宽度相比，增加足瓣半径效果更好。研究结果为后续的足部机构设计提供了理论参考。
以二級半轉輪腿式月毬車為研究對象，攷慮月毬車在鬆軟月麵上的下限問題，在輪腿的跨步桿兩耑各添加一箇“足”，併設計齣兩種月毬車輪腿足部構型方案，以增大足部與月壤間的有效接觸麵積和摩抆力。依據車輛地麵力學基本理論，分析月毬車的輪腿足瓣與月壤的相互作用力學特性，建立瞭月毬車無輪刺足瓣與月壤的相互作用力學模型，在此基礎上，分析瞭足瓣輪刺效應。提齣月毬車驅動性能的四箇評價指標：足瓣沉陷指標、足部牽引性能指標、驅動電動機性能指標和爬坡性能指標，通過給定月壤特性參數、月毬車載荷和滑轉率，研究瞭足瓣的半徑、寬度以及輪刺的高度和箇數對掛鉤牽引力、驅動力矩的影響。Matlab倣真錶明，增大足瓣半徑、寬度以及輪刺高度和箇數均可以提高月毬車的驅動性能，與增加足瓣寬度相比，增加足瓣半徑效果更好。研究結果為後續的足部機構設計提供瞭理論參攷。
이이급반전륜퇴식월구차위연구대상，고필월구차재송연월면상적하한문제，재륜퇴적과보간량단각첨가일개“족”，병설계출량충월구차륜퇴족부구형방안，이증대족부여월양간적유효접촉면적화마찰력。의거차량지면역학기본이론，분석월구차적륜퇴족판여월양적상호작용역학특성，건립료월구차무륜자족판여월양적상호작용역학모형，재차기출상，분석료족판륜자효응。제출월구차구동성능적사개평개지표：족판침함지표、족부견인성능지표、구동전동궤성능지표화파파성능지표，통과급정월양특성삼수、월구차재하화활전솔，연구료족판적반경、관도이급륜자적고도화개수대괘구견인력、구동력구적영향。Matlab방진표명，증대족판반경、관도이급륜자고도화개수균가이제고월구차적구동성능，여증가족판관도상비，증가족판반경효과경호。연구결과위후속적족부궤구설계제공료이론삼고。
Taking the wheel-legged lunar rover with double-half-revolution mechanism as the research object, feet are added on both ends of the striking rod with the consideration of lunar rover’s sinkage problem when walking on the loose lunar surface. Two kinds of foot configuration schemes have been designed, in order to increase the effective contact area and their friction between the foot and lunar soil. According to the basic theory of terrain mechanics, the mechanical properties between the foot and lunar soil are analyzed. The mathematical models between the foot without wheel thorn and lunar soil are built up, and the influences of foot configuration parameters with wheel thorns are analyzed. Four driving performance evaluation indexes are proposed, including foot sinkage index, foot traction performance index, driving motor performance index and climbing performance index. Through the given characteristic parameters of the lunar soil, the lunar rover load and slip rate, the influences of foot radius/width and wheel thorn height/ number on hook traction and driving torque are simulated by Matlab software. The results show that the increase of the foot radius, height and width as well as the number of the wheel thorns can improve the driving performance of the lunar rover. Compared with the foot width, the increase of foot radius is better. The results provide a theoretical basis for the subsequent foot configuration design.
