Steering mechanical analysis for lunar rover wheel  

作　　者：刘吉成 

机构地区：[1]School of Mechatronics Engineering,Harbin Institute of Technology

出　　处：《High Technology Letters》2009年第4期423-428,共6页高技术通讯（英文版）

基　　金：Supported by the National High Technology Research and Development Program of China (No. 2006AA04Z231 );the Natural Science Foundation of Heilongjiang Province ( No. ZJG0709).

摘　　要：Facing the requirement of establishing a steering mechanical model for the wheel configuration design,selection of steering motors, dynamic analysis and simulation of the lunar rover, shear force beneaththe steering wheel, bulldozing resistance acting on steering wheel rims and side surfaces respectively areconducted on the basis of the wheel-loose soil interaction. The quantitative relation between steering resistancemoment (SRM) and steering radius, dimension of the wheel, soil parameters is established. Tovalidate the model, a single-wheel test bed is employed to test the steering performance of a wheel with0.15735m radius and 0.165m width when the steering radius is 0.00m, 0.04m, 0.08m, 0.12m and0.16m, respectively. The SRM is approached asymptotically with the increasing steering angle and almostproportional to the steering radius. The theoretical results of SRM are compact with the experimental results,which shows that the steering model can predict the experimental results well.Facing the requirement of establishing a steering mechanical model for the wheel configuration design, selection of steering motors, dynamic analysis and simulation of the lunar rover, shear force beneath the steering wheel, bulldozing resistance acting on steering wheel rims and side surfaces respectively are conducted on the basis of the wheel-loose soil interaction. The quantitative relation between steering resistance moment （SRM） and steering radius, dimension of the wheel, soil parameters is established. To validate the model, a single-wheel test bed is employed to test the steering performance of a wheel with 0.15735m radius and 0.165m width when the steering radius is 0.00m, 0.04m, 0.08m, 0.12m and 0.16m, respectively. The SRM is approached asymptotically with the increasing steering angle and almost proportional to the steering radius. The theoretical results of SRM are compact with the experimental results, which shows that the steering model can predict the experimental results well.

关 键 词：terramechanics steering mechanical model steering radius lunar rover WHEEL 

分 类 号：V476.3[航空宇航科学与技术—飞行器设计]