月球探测车车轮数目的选取  

Rational wheel number for lunar rover

作　　者：杨飞[1] 邓宗全[1] 陶建国[1] 刘吉成[2] 

机构地区：[1]哈尔滨工业大学机电工程学院机器人技术与系统国家重点实验室,哈尔滨150080 [2]上海大学机电工程与自动化学院,上海200444

出　　处：《吉林大学学报（工学版）》2012年第5期1113-1119,共7页Journal of Jilin University:Engineering and Technology Edition

基　　金：'863'国家高技术研究发展计划项目(2008AA04Z202);国家自然科学基金项目(51075079;61005073)

摘　　要：为合理确定月球探测车车轮数目,借助地面力学的相关知识,考虑到车轮行驶时的沙土回弹沉陷量,建立了车轮前进与转弯时的轮地接触模型,进而推导了单个车轮的前进总阻力矩、转弯总阻力矩以及驱动力矩计算表达式。在一定范围轮宽与轮径条件下,得到了单轮驱动力矩、前进阻力矩和转向阻力矩与沉陷量之间的关系曲线。通过分析找到使车轮驱动效率较大的沉陷量区间。以此为基础,给出了合理选择车轮数目的操作流程图,并比较了不同轮数探测车的优缺点,可为全面合理确定车轮数提供参考。In order to decide the rational wheel number of the lunar rover,a wheel-soil contact model for the wheel at moving forward and turning was built based on the theory of terrain mechanics and the consideration of the sand springback sinkage.The calculation expressions for total resistance torques of the single wheel at moving forward and turning were derived.The relationship curves of the driving torque,the resistance torque at moving forward and the resistance torque at turning versus sinkage were achieved under a certain range of wheel width and radius.The sinkage interval to make the wheel have high driving efficiency was found by analysis.Based on these results,the flow chart for choosing wheel number rationally was proposed,and the advantages and disadvantages of the rovers with different number of wheels were compared to provide a reference for the comprehensive and rational wheel number choosing.

关 键 词：车辆工程 月球探测车 车轮数目 驱动力矩 阻力矩 沉陷量 

分 类 号：U461.1[机械工程—车辆工程]