基于应力分布的月球车轮地相互作用地面力学模型.pdfVIP

第45 卷第7 期 Vol.45 No.7 机 械 工 程 学 报 2009 年 7 月 JOURNAL OF MECHANICAL ENGINEERING Jul. 2009 DOI：10.3901/JME.2009.07.049 * 丁 亮 高海波 邓宗全 刘吉成 陶建国 (哈尔滨工业大学机器人技术及系统国家重点实验室 哈尔滨 150080) 轮地相互作用地面力学在月球车的设计、性能评价、控制和仿真等方面具有重要作用，是目前基于动力学进行月球车 相关研究的瓶颈。基于此，利用针对月球车开发的车轮—土壤相互作用测试系统进行试验，结合试验数据对传统车辆轮地相 互作用正应力和切应力分布模型进行修正，并分析月球车轮刺高度对应力分布的影响，从而提出随滑转率变化改变沉陷指数 的经验公式，以反映土壤侧向流动等引起的滑转沉陷。对应力分布公式积分得到集中力/力矩计算模型，并结合试验数据进 行验证。在载荷为 80 N，滑转率从 0.05 增加到 0.6 时，模型对于车轮垂直载荷、挂钩牵引力和驱动力矩的计算值与试验数 据相比，相对误差不超过 10%。模型能够反映滑转沉陷和轮刺效应，可以有效地用于月球车轮地相互作用力学的计算。 地面力学 月球车 轮地相互作用 滑转率 轮刺 O39 U489 Terramechanics Model for Wheel-terrain Interaction of Lunar Rover Based on Stress Distribution DING Liang GAO Haibo DENG Zongquan LIU Jicheng TAO Jianguo (State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080) Abstract：Terramechanics for wheel-terrain interaction of lunar exploring rover, which is the bottleneck of dynamics-based research at present, can play an important role in mechanical design, performance evaluation, control, simulation, etc. Experiments are done by using the wheel-terrain interaction testing system developed for lunar rover. The conventional normal and shear stress distribution models are improved according to the experimental data. And the effect caused by the wheel lugs is also analyzed. To reflect the slip-sinkage caused by lateral flow of deformable soil, the concept that the sinkage exponent should vary according to the slip ratio is proposed and an empirical formula is given. Mathematic model for calculating concentrated force/torque is deduced by integrating the distributed stresses, which is verified by experimental data. With a load of 80 N, while th