Journal of Jilin University(Engineering and Technology Edition) ›› 2019, Vol. 49 ›› Issue (6): 1836-1843.doi: 10.13229/j.cnki.jdxbgxb20180904

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Experiment on pressure⁃sinkage for mesh wheels of CE⁃3lunar rover on lunar regolith

Bai-chao CHEN1(),Meng ZOU2(),Zhao-long DANG1,Han HUANG2,Yang JIA1,Rui-yang SHI2,Jian-qiao LI2   

  1. 1. Beijing Institute of Spacecraft System Engineering, China Academy of Space Technology, Beijing 100094, China
    2. Key Laboratory of Bionics Engineering, Ministry of Education, Jilin University, Changchun 130022, China
  • Received:2018-09-03 Online:2019-11-01 Published:2019-11-08
  • Contact: Meng ZOU E-mail:cbc2009@163.com;zoumeng@jlu.edu.cn

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Abstract:

The trafficability of CE-3 Lunar rover can be evaluated by the sinkage of the wheels. In this research, the static and dynamic sinkage tests were conducted. The results show that the apparent sinkage is smaller than actual sinkage, and the difference of sinkage is affected by the slip ratio, wheel load and the regolith conditions. The maximal difference of sinkage was 19.8mm and the minimal difference was 3.7mm. A prediction model of the sinkage difference was built according to the test data, and verified by the field test of CE-3 rover. Results show that the accuracy of model 3 is 85%, and the accuracy of model 4 is 84.5%. The results are helpful to evaluate the trafficability and to plan the path for the CE-3 and CE-4 rovers.

Key words: vehicle engineering, lunar rovers, sinkage, mesh-wheel, soil bin test

CLC Number: 

  • V416

Fig.1

Apparent and actual sinkage of mesh wheel"

Fig.2

Sinkage test for mesh wheel"

Table 1

Parameters of simulant Lunar soil"

参 数取 值
中值粒径/μm45
比重2.73
容重/（g·cm-3）1.09~1.66
内聚力/kPa0.078~0.489
内摩擦角/（°）30.59~36.45
剪切变形模量/cm1.63~1.92
变形指数0.956~1.190
粘聚模量/（kN/mN+1）7.73~387.73
摩擦模量/（kN/mn+2）762.85~15 599.84
含水率/%0.32

Fig.3

Scanning the rut of mesh wheel"

Fig.4

Wheel load vs. sinkage"

Fig.5

Results of static test for mesh wheel"

Fig.6

Soil bin testbed for mesh wheel"

Fig.7

Soil bin test for mesh wheel of CE-3"

Fig.8

Influence of wheel load on the sinkage"

Fig.9

Influence of regolith condition on the sinkage"

Fig.10

Difference of the dynamic sinkage"

Table 2

Coefficients for static sinkage model"

状态系数静差1静差2
松软b02.75235.4277
b10.14900.3390
自然b00.82343.5771
b10.21800.6230
合并b01.58204.5024
b10.18700.4720

Table 3

Coefficients for dynamic sinkage model"

状态系数动差1动差2动差3动差4
松软b0-6.26951.73973.9727-0.1891
b10.89451.09980.34090.8771
b20000.3310
自然b0-2.68004.1555.61262.4815
b10.87710.97720.28030.6837
b20000.2697
紧实b0-3.65931.59632.6427-1.2923
b11.08960.87240.31730.8387
b20000.3154
合并b0-0.46542.50794.05140.3111
b10.63421.00160.31970.8018
b20000.3113

Fig.11

CE-3 verification test"

Fig.12

Rut image processing"

Table 4

Differences for dynamic sinkage"

指 标自然松软
5%25%5%25%
实际沉陷/mm7.6615.3614.0118.25
表观沉陷/mm3.323.517.683.61
实际差值/mm4.3411.846.3314.64
动差2模型/mm7.527.527.527.52
动差3模型/mm5.6512.045.6512.04
动差4模型/mm5.8812.105.8812.10
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