火星巡视器鼓形车轮仿生设计与性能分析  

Bionic Design and Performance Analysis of Drum Shaped Wheel of Mars Rover

作　　者：张锐[1] 吉巧丽 杨明明[1,2] 李建桥[1] 

机构地区：[1]吉林大学工程仿生教育部重点实验室,长春130022 [2]中国南车集团戚墅堰机车车辆工艺研究所有限公司,常州213000

出　　处：《农业机械学报》2016年第8期311-316,共6页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(51275199);吉林省科技发展计划项目(20140101074JC)

摘　　要：以善于沙地奔跑的鸵鸟的二趾足为仿生原型,利用工程仿生学原理,设计一种高通过性的仿生越沙鼓形轮面车轮。以与火星壤近似的松软沙土为试验材料,利用车轮-土壤土槽测试系统,以轮辙、挂钩牵引力和沉陷量为试验指标,对仿生鼓形轮面车轮和普通轮面车轮的通过性能进行了对比分析。结果表明,当滑转率超过0.85时,普通鼓形轮面比仿生鼓形轮面轮辙的堆积现象明显,并且出现明显打滑空转现象。在相同试验条件下,当滑转率小于0.42时,普通鼓形轮面车轮的挂钩牵引力稍大于仿生鼓形轮面车轮,当滑转率大于0.42时,仿生鼓形轮面车轮的挂钩牵引力明显大于普通鼓形轮面车轮。仿生鼓形轮面车轮和普通鼓形轮面车轮的最大挂钩牵引力分别为11.6N和2.6 N。滑转率对于普通鼓形轮面车轮的沉陷量影响较小,沉陷量基本保持在约35 mm,而随着滑转率的增大,仿生鼓形轮面车轮沉陷量呈现缓慢增大趋势。It is important to enhance mobility performance of the Mars rover wheel in soft terrain. The didactyl foot,which is the key part of ostrich foot possessing the excellent running ability on sand,was regarded as the bionic prototype. According to the principle of engineering bionic,the wheel with bionic drum shaped surface moving on sand with high mobility performance was designed. A kind of Mars soil stimulants was selected as experimental material. The wheel-soil bin test system was adopted to test the tractive trafficability of ordinary drum shaped surface wheel and bionic drum shaped surface wheel. The rut morphology,drawbar pull and sinkage were regarded as evaluation indicators. Results showed that when the slip-rotation ratio was over 0. 85,the rut accumulation phenomenon of ordinary drum shaped wheel was more serious than that of bionic drum shaped wheel. Under the same experimental conditions,when slip-rotation ratio was less than 0. 42,the drawbar pull of ordinary drum shaped wheel was slightly larger than that of the bionic drum shaped wheel. When the slip-rotation ratio was over 0. 42,the drawbar pull of the bionic drum shaped wheel was superior to the ordinary drum shaped wheel. The maximum drawbar pulls of bionic drum shaped wheel and ordinary drum shaped wheel were 11. 6 N and 2. 6 N,respectively. The slip-rotation ratio had small influence on sinkage of the ordinary drum shaped wheel,and the value of sinkage was about 35 mm. However,the sinkage of bionic drum shaped wheel was increased with the increase of slip-rotation ratio. This research provided a design way for enhancing the mobility performance of the Mars rover in soft terrain.

关 键 词：火星巡视器 鼓形车轮 鸵鸟足 仿生轮面结构 牵引通过性 

分 类 号：V476.4[航空宇航科学与技术—飞行器设计]