星球车车轮纵向滑移力学分析-mechanical analysis of wheel longitudinal slip of star vehicle.docx

AbstractPlanetary exploration rovers are playing important roles in space exploration, and the study of wheel-soil interaction mechanics is of substantial importance for a planetary exploration rover to successfully complete its exploration mission. Skid terramechanics is an important part of wheel-soil interaction mechanics, but has been rarely studied.Experiment is the most direct and effective means to study terramechanics. A series of longitudinal skid experiments were taken to learn the mechanics of longitudinal skid, revealing the wheel configuration parameters, the wheel running parameters for longitudinal skid experiments and the phenomenon of skid-sinkage was found. Lay the foundation for establishing a wheel-soil interaction mechanical model for planetary exploration vehicles and provide a basis to judge the discrete element simulation.Terramechanics model is the foundation of the application of terramechanics. A longitudinal skid terramechanics model for planetary exploration rovers is established based on the longitudinal skid experiments and the traditional terramechanics model. It is assumed in this paper that there exists a misalignment between the angular position of the maximum radial stress and the angular position of the transition point of tangential stress, and an improved quadratic model is proposed for calculating the sinkage exponent. The parameters of mechanical property of planetary soil simulant are measured by pressure-sinkage experiments and shearing experiments. The performance of wheels for plantary exploration rovers is predicted by submiting the mechanical properties parameters of soil simulant and the measured wheel sinkage into the longitudinal skid mechanics model. According to the comparison between the experimental and simulation results, it is found that the performance of rover wheels can be accurately predicted using the proposed model.Discrete element method is a new way of studying terramechanics besidesexperiments