Experimental analysis on effect of grouser circumferential angle on motion performance of lunar rover wheel  

作　　者：刘吉成 高海波 邓宗全 

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

出　　处：《Journal of Harbin Institute of Technology(New Series)》2011年第1期131-137,共7页哈尔滨工业大学学报（英文版）

基　　金：Supported by the National Natural Science Foundation of China(Grant No.50975059,61005073);the Key Labroatory Opening Funding of HIT(GrantNo.HIT.KLOF.2009061);Natural Science Foundation of Heilongjiang Province of China(Grant No.ZJG0709)

摘　　要：To guide the design of grouser parameters for lunar rover wheel,the effect analysis of circumferential angle of grousers on motion performance of a rigid wheel was conducted in a laboratory single-wheel test bed with loose sand bin.All tests had been done at a free wheel sinkage.The circumferential angle was varied from 0°,5°,10°,15° to 20°.By the analysis and comparisons of tractive and steering performance between smooth wheels and wheels with different circumferential angle grousers,the results show that the drawbar pull(DP),driving torque(DT) and steering resistance moment(SRM) decrease slightly with the increasing circumferential angle.And chevron grousers are more beneficial to improve the tractive performance than herringbone grousers.In order to evaluate motion performance of wheels with grousers,the evaluation indexes of motion performance are introduced into the experimental results.The results reveal that the optimal circumferential angle is 0°,and the optimum value of wheel slip is 13% from the perspective of saving energy to the similar loose sand in the experiments.To guide the design of grouser parameters for lunar rover wheel, the effect analysis of circumferential angle of grousers on motion performance of a rigid wheel was conducted in a laboratory single-wheel test bed with loose sand bin. All tests had been done at a free wheel sinkage. The circumferential angle was varied from 0° , 5°, 10°, 15° to 20°. By the analysis and comparisons of tractive and steering performance between smooth wheels and wheels with different circumferential angle grousers, the results show that the drawbar pull （DP） , driving torque （DT） and steering resistance moment （SRM） decrease slightly with the increasing circumferential angle. And chevron grousers are more beneficial to improve the tractive performance than herringbone grousers. In order to evaluate motion performance of wheels with grousers, the evaluation indexes of motion performance are introduced into the experimental results. The results reveal that the optimal circumferential angle is 0°, and the optimum value of wheel slip is 13% from the perspective of saving energy to the similar loose sand in the experiments.

关 键 词：ROVER WHEEL circumferential angle chevron grouser herringbone grouser 

分 类 号：O39[理学—工程力学] TP242.3[理学—力学]