›› 2012, Vol. 42 ›› Issue (05): 1113-1119.

Previous Articles     Next Articles

Rational wheel number for lunar rover

YANG Fei1, DENG Zong-quan1, TAO Jian-guo1, LIU Ji-cheng2   

  1. 1. State Key Laboratory of Robot Technology and System, School of Mechtrionics Engineering, Harbin Institute of Technology, Harbin 150080,China;
    2. School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200444,China
  • Received:2011-07-08 Online:2012-09-01 Published:2012-09-01

PDF (PC)

428

Abstract: 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.

Key words: vehicle engineering, lunar rover, wheel number, drive torque, resistance torque, sinkage

CLC Number: 

  • U461.1
[1] 邓宗全,李所军,高海波. 行星探测车被动摇臂悬架的研究与发展[J]. 宇航学报,2008,29(6): 1696-1700. Deng Zong-quan, Li Suo-jun, Gao Hai-bo. Research and development of passive rocker suspension of planetary exploration rover[J]. Journal of Astronautics, 2008,29(6): 1696-1700.
[2] 刘吉成, 邓宗全, 高海波. 行星探测车车轮构型研究综述与思考[J]. 机械设计与制造, 2007(11): 209-211. Liu Ji-cheng, Deng Zong-quan, Gao Hai-bo. Research on wheel configuration for planetary rover[J]. Machinery Design & Manufacture, 2007(11): 209-211.
[3] 刘吉成. 月球车车轮驱动性能及其综合评价的研究. 哈尔滨:哈尔滨工业大学机电工程学院, 2009. Liu Ji-cheng. Research on driving performance of lunar rover wheel and its comprehensive evaluation. Harbin: School of Mechatronics Engineering,Harbin Institute of Technology, 2009.
[4] 丁亮, 高海波, 邓宗全,等. 基于应力分布的月球车轮地相互作用地面力学模型[J].机械工程学报,2009, 45(7): 49-54. Ding Liang, Gao Hai-bo, Deng Zong-quan, et al. Terramechanics model for wheel-terrain interaction of lunar rover based on stress distribution[J]. Chinese Journal of Mechanical Engineering, 2009, 45(7): 49-54.
[5] 余志生.汽车理论[M].北京:机械工业出版社,2000.
[6] 袁勇,丁同才,胡震宇. 月球车车轮驱动能力研究//第三届中国宇航学会深空探测技术专业委员会论文集,西安,2006:371-376. Yuan Yong, Ding Tong-cai, Hu Zhen-yu. Research on the wheel drive performance of the rover//In: Proceedings of the 3th Annual Symposium of CSA-CDSET, Xi'an,2006:371-376.
[7] 丁亮. 月/星球车轮地作用地面力学模型及其应用研究. 哈尔滨:哈尔滨工业大学机电工程学院, 2009. Ding Liang. Wheel-soil interaction terramechanics for lunar/planetary rxploration rovers modeling and application.Harbin: School of Mechatronics Engineering, Harbin Institute of Technology, 2009.
[8] 郑永春,欧阳自远,王世杰,等.月壤的物理和机械性质[J]. 矿物岩石,2004,24(4): 14-19. Zheng Yong-chun, Ouyang Zi-yuan, Wang Shi-jie, et al. Physical and mechanical properties of lunar regoith[J]. Journal of Mineralogy and Petrology, 2004, 24(4): 14-19.
[9] Onafeko O, Recce A R. Soil stresses and deformations beneath rigid wheels[J]. Journal of Terramechanics, 1967, 4 (1):59-80.
[10] 谷侃锋, 王洪光, 赵明扬. 滑转率对月球车车轮驱动力学特性的影响分析[J]. 计算机仿真,2008,25(6):25-29. Gu Kan-feng, Wang Hong-guang,Zhao Ming-yang. Influence of wheel slip on the dynamic characteristic of lunar rover wheels[J]. Conputer Simulation, 2008, 25(6): 25-29.
[11] 丁希仑, 石旭尧, Alberto Rovetta,等. 月球探测(车)机器人技术的发展与展望[J]. 机器人技术与应用, 2008(3): 5-9. Ding Xi-lun,Shi Xu-yao,Alberto Rovetta,et al.The development and view of lunar robotic technology[J].Robot Technique and Application,2008(3):5-9.
[12] 邱雪松. 八轮扭杆摇臂式月球车可展开移动系统研究. 哈尔滨:哈尔滨工业大学机电工程学院, 2007. Qiu Xue-song. Research on deployable locomotion system for eight-wheel torsion-bar-rocker lunar rover. Harbin: School of Mechatronics Engineering,Harbin Institute of Technology, 2007.
[1] CHANG Cheng,SONG Chuan-xue,ZHANG Ya-ge,SHAO Yu-long,ZHOU Fang. Minimizing inverter capacity of doubly-fed machine driving electric vehicles [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1629-1635.
[2] XI Li-he,ZHANG Xin,SUN Chuan-yang,WANG Ze-xing,JIANG Tao. Adaptive energy management strategy for extended range electric vehicle [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1636-1644.
[3] HE Ren,YANG Liu,HU Dong-hai. Design and analysis of refrigeration system supplied by solar auxiliary power of refrigerator car [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1645-1652.
[4] NA Jing-xin,MU Wen-long,FAN Yi-sa,TAN Wei,YANG Jia-zhou. Effect of hygrothermal aging on steel-aluminum adhesive joints for automotive applications [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1653-1660.
[5] LIU Yu-mei,LIU Li,CAO Xiao-ning,XIONG Ming-ye,ZHUANG Jiao-jiao. Construction on collision avoidance model of bogie dynamic simulation test bench [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1661-1668.
[6] ZHAO Wei-qiang, GAO Ke, WANG Wen-bin. Prevention of instability control of commercial vehicle based on electric-hydraulic coupling steering system [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1305-1312.
[7] SONG Da-feng, WU Xi-tao, ZENG Xiao-hua, YANG Nan-nan, LI Wen-yuan. Life cycle cost analysis of mild hybrid heavy truck based on theoretical fuel consumption model [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1313-1323.
[8] ZHU Jian-feng, ZHANG Jun-yuan, CHEN Xiao-kai, HONG Guang-hui, SONG Zheng-chao, CAO Jie. Design modification for automotive body structure based on seat pull safety performance [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1324-1330.
[9] NA Jing-xin, PU Lei-xin, FAN Yi-sa, SHEN Chuan-liang. Effect of temperature and humidity on the failure strength of Sikaflex-265 aluminum adhesive joints [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1331-1338.
[10] WANG Yan, GAO Qing, WANG Guo-hua, ZHANG Tian-shi, YUAN Meng. Simulation of mixed inner air-flow integrated thermal management with temperature uniformity of Li-ion battery [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1339-1348.
[11] JIN Li-sheng, XIE Xian-yi, GAO Lin-lin, GUO Bai-cang. Distributed electric vehicle stability control based on quadratic programming [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1349-1359.
[12] KUI Hai-lin, BAO Cui-zhu, LI Hong-xue, LI Ming-da. Idling time prediction method based on least square support vector machine [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1360-1365.
[13] WANG De-jun, WEI Wei-li, BAO Ya-xin. Actuator fault diagnosis of ESC system considering crosswind interference [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1548-1555.
[14] HU Man-jiang, LUO Yu-gong, CHEN Long, LI Ke-qiang. Vehicle mass estimation based on longitudinal frequency response characteristics [J]. 吉林大学学报(工学版), 2018, 48(4): 977-983.
[15] LIU Guo-zheng, SHI Wen-ku, Chen Zhi-yong. Finite element analysis of transmission error for hypoid gears considering installation error [J]. 吉林大学学报(工学版), 2018, 48(4): 984-989.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd