基于地面力学的月球车爬坡轮—地相互作用模型  

Lunar Rover Wheel-Terrain Interaction Model for Climbing-up-Slope Based on Terramechanics

作　　者：焦震[1,2] 高海波[1,2] 邓宗全[1,2] 丁亮[1,2] 

机构地区：[1]机器人技术与系统国家重点实验室(哈尔滨工业大学),黑龙江哈尔滨150080 [2]哈尔滨工业大学宇航空间机构及控制国防科工委重点学科实验室,黑龙江哈尔滨150080

出　　处：《机器人》2010年第1期70-76,共7页Robot

基　　金：国家自然科学基金资助项目(50975059);国家863计划资助项目(2006AA04Z231);黑龙江省自然科学基金重点项目(ZJG0709);机器人技术及系统国家重点实验室自主研究课题(SKLRS200801A02);高等学校学科创新引智计划资助项目(B07018)

摘　　要：月球车爬坡地面力学模型在月球车的设计、越障性能评价、控制和仿真等方面具有极其重要作用.利用月球车轮地相互作用测试系统进行车轮爬坡性能实验,结合实验数据在传统车轮—土壤相互作用应力分布模型之上推导出爬坡轮—地相互作用模型,同时考虑爬坡角度对浅层月壤应力分布的影响,提出了随滑转率变化的沉陷因数经验公式,来反映月壤压实、刮带、侧向流动等引起的滑转沉陷.通过对应力分布公式进行积分转化得到集中力/力矩计算模型,利用ADAMS二次开发的柔性爬坡仿真环境并结合实验数据进行模型验证.在斜坡角度为16?,载荷为100 N,当滑转率从0增加到0.6时,将模型的车轮斜坡法向载荷、挂钩牵引力和驱动力矩的计算值与实验数据相对比,结果相对误差不超过10%,因而该爬坡模型可以有效地用于月球车轮地相互作用的力学计算.The lunar rover terramechanics model for climbing-up-slope plays important roles in mechanical design, obstacle-overcoming performance evaluation, control, simulation, etc. Experiments are performed to test the wheel performances of climbing slopes using the wheel-terrain interaction testing system developed for lunar rover. A climbing-upslope model for wheel-terrain interaction is derived according to the conventional wheel-terrain stress distribution models and experimental data. The influence on stress distribution of shallow layer soil caused by slope angle is also considered. An empirical formula for calculating the sinkage exponent as a function of the slip ratio is proposed, in order to reflect the sinkage caused by the soil compaction, scrape, lateral flow, and so on. The model for calculating concentrated force/torque is obtained by integrating the stress distribution formula, which is then verified by experimental data and flexible slope-climbing simulation platform developed secondarily with ADAMS. If the slope is 16°, load is 100 N, and slip ratio increases from 0 to 0.6, the relative errors of predicting normal force, drawbar pull and driving torque between calculation values and experimentai data are less than 10%. The model can predict wheel-terrain interaction mechanics effectively for a rover while climbing up slopes.

关 键 词：月球车 地面力学 爬坡轮地相互作用 滑转率 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]