行星探测车车轮牵引特性试验台设计  

Design of Tractive Characteristic Test-bed of Planetary Rover Wheel

作　　者：孙鹏[1] 高峰[1] 孙刚[2] 赵斌[1] 

机构地区：[1]北京航空航天大学,北京100083 [2]机械科学研究总院,北京100044

出　　处：《中国机械工程》2009年第5期505-508,共4页China Mechanical Engineering

基　　金：国家863高技术研究发展计划资助项目(2007AA11Z244);高等学校博士学科点专项科研基金资助项目(20070006012);中国博士后科学基金资助项目(20080430305)

摘　　要：基于行星探测车行走机构的特点和地面验证试验的要求，研制了行星探测车车轮牵引特性试验台，介绍了试验台的机械结构及测控系统。试验台针对的车轮直径范围为20～40cm，可施加垂直载荷0-300N，可测量挂钩牵引力0-300N，台车最大线速度为43mm／s，车轮最高转速为9．9r／min。试验台装备了六分力传感器、垂直电位计、旋转编码器等传感器，保证了试验参数测量的准确性。试验结果表明，该试验台具有较高的测量精度，可以用于轮土交互作用试验研究。According to the characteristics of planetary rover＇s travel mechanism and the requirements of validation test on ground, the test--bed for tractive performance of wheel of planetary rover was designed and manufactured. The machine mechanism, measurement and control system were introduced. The test--bed is designed for 20-40cm diameter wheels, vertical loads in the 0-300N range, drawbar pull forces ranging from 0 to 300N, linear velocity up to 43mm/sec, and wheel rotating speed up to 9. 9r/min. Several sensors were mounted such as six--axis force/torque sensor, potentiometer, encoder and so on, to ensure the veracity of desirable parameters. The experimental results show that the test--bed can get fairly accurate result and can be applied to the experiments of wheel--soil interaction.

关 键 词：试验台 行星探测车 车轮 牵引特性 

分 类 号：U467.523[机械工程—车辆工程] TP306[交通运输工程—载运工具运用工程]