2010a_e_Wheel slip sinkage and its prediction model of lunar rover.pdf

J. Cent. South Univ. Technol. (2010) 17: 129?135 DOI: 10.1007/s11771?010?0021?7 Wheel slip-sinkage and its prediction model of lunar rover DING Liang(丁亮)1, 2, GAO Hai-bo(高海波)1, 2, DENG Zong-quan(邓宗全)1, 2, TAO Jian-guo(陶建国)1, 2 1. Aerospace Mechanism and Control Key Laboratory of Fundamental Science for National Defense, Harbin Institute of Technology, Harbin 150001, China; 2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China ? Central South University Press and Springer-Verlag Berlin Heidelberg 2010 Abstract: In order to investigate wheel slip-sinkage problem, which is important for the design, control and simulation of lunar rovers, experiments were carried out with a wheel-soil interaction test system to measure the sinkage of three types of wheels in dimension with wheel lugs of different heights and numbers under a series of slip ratios (0?0.6). The curves of wheel sinkage versus slip ratio were obtained and it was found that the sinkage with slip ratio of 0.6 is 3?7 times of the static sinkage. Based on the experimental results, the slip-sinkage principle of lunar’s rover lugged wheels (including the sinkage caused by longitudinal flow and side flow of soil, and soil digging of wheel lugs) was analyzed, and corresponding calculation equations were derived. All the factors that can cause slip sinkage were considered to improve the conventional wheel-soil interaction model, and a formula of changing the sinkage exponent with the slip ratio was established. Mathematical model for calculating the sinkage of wheel according to vertical load and slip ratio was developed. Calculation results show that this model can predict the slip-sinkage of wheel with high precision, making up the deficiency of Wong-Reece model that mainly reflects longitudinal slip-sinkage. Key words: lunar rover; slip-sink