一种新型轮爪式车轮设计与性能仿真  

Design and performance simulation of a new type wheel with claws

作　　者：岳荣刚[1] 王少萍[1] 焦宗夏[1] 康荣杰[1] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100083

出　　处：《北京航空航天大学学报》2007年第12期1408-1411,共4页Journal of Beijing University of Aeronautics and Astronautics

基　　金："新世纪优秀人才支持计划"资助项目(NCET-04-0168);教育部111计划资助项目;北京市教改项目

摘　　要：针对当前行星探测车车轮的缺点和不足,结合行星表面的复杂环境,设计了一种新型轮爪式行星探测车车轮,其主要创新点在于车轮的轮爪.对新型车轮进行了受力分析,推导出车轮平稳运动的条件,为设计者提供了一定的理论依据.用Pro/ENGINEER软件建立了探测车的三维模型,并用ADAMS(Automatic Dynamic Analysis of Mechanical Systems)软件对行星车进行了运动学和动力学仿真.仿真结果表明新型车轮具有较强的越障能力,可以翻越高度超过车轮半径1.4倍的台阶,也可以跨越宽度超过车轮直径的壕沟,能够适应各种地形环境,基本克服了当前行星探测车车轮存在的缺点和不足.Aiming at the disadvantages of current planetary rover wheel, a new type climbing obstacle wheel with claws was designed according to the complex planetary surface environment. Its main innovation is the claw on wheel. Mechanics analysis of the new type climbing obstacle wheel was computed, and the steady running condition was deduced. It offered designers several theory foundations. A three-dimensional planetary rover model with the new type climbing obstacle wheels was built by Pro/ENGINEER software, and kinematic and dynamic simulation of the wheel was given by ADAMS （automatic dynamic analysis of mechanical systems） software. The simulation results show that the new type wheel has strong crossing obstacle capabilities. it can scale the step whose height is 1.4 times than the wheel radius, and can adapt itself to all kinds of rough and uneven terrain environment. The new type wheel overcomes disadvantages and shortages of current rover wheels.

关 键 词：行星车 越障 车轮 仿真 

分 类 号：V476.3[航空宇航科学与技术—飞行器设计]