Journal of Jilin University(Engineering and Technology Edition) ›› 2023, Vol. 53 ›› Issue (4): 964-972.doi: 10.13229/j.cnki.jdxbgxb.20220234

Previous Articles     Next Articles

Optimization of the tread plate-spring structure of flexible metal wheel with plate-spring

Jing-fu JIN1(),Xin-ju DONG1,Zhi-cheng JIA1,Kang WANG2,Lian-bin HE1,Meng ZOU1,Ying-chun QI1()   

  1. 1.College of Biological and Agricultural Engineering，Jilin University，Changchun 130022，China
    2.Beijing Institute of Spacecraft System Engineering，China Academy of Space Technology，Beijing 100094，China
  • Received:2022-03-15 Online:2023-04-01 Published:2023-04-20
  • Contact: Ying-chun QI E-mail:jinjingfu@jlu.edu.cn;qiyc@jlu.edu.cn

RICH HTML

 5   

PDF (PC)

233

Abstract:

To solve the problem that conventional flexible metal wheels with plate-spring simply have stress concentrations or plastic deformation， the cause of stress concentrations and large deformations in the tread is analyzed. The three-dimensional models of conventional arched tread and bilateral curved tread structure are established. And the deformation and load of the two treads are simulated under three working conditions of flat pressure， middle tread pressure and unilateral tread pressure by using finite element analysis method. The analysis shows that the restrained connection method of the ends of the tread will affect the stress situation of the tread and cause the excessive local rigidity or insufficient load capacity of the tread. According to the simulation results， the coupled flexible tread structure is proposed. The structure that restricts the ends of the tread has been changed. The radial displacement of the tread is transferred to the axial outward tension of the hub， and then the radial displacement is expanded by the axial displacement. Finite element simulation shows that the coupled flexible tread structure can obtain same greater radial deformation under all the three working conditions， and the tread has uniform rigidity， continuous deformation and no stress concentration area. The result shows that the coupled flexible tread structure can effectively expand the radial displacement capacity of the wheel， and the tread has sufficient rigidity， which verifies the advantages of designing the coupled flexible tread structure.

Key words: plate-spring metal wheels, tread characteristics, coupling flexible tread, structural design, numerical simulation

CLC Number: 

  • V19

Fig.1

Flexible spoke wheel"

Fig.2

Flexible tread wheel"

Fig.3

Deformation trend of the plate-spring with therestrained tread ends"

Fig.4

Model of conventional flexible tread wheel structure"

Fig.5

Load and support of arch tread structure underthree different working conditions"

Fig.6

Total deformation and equivalent stress distribution of 2 models under working condition 1"

Fig.7

Total deformation and equivalent stress distribution of 2 models under working condition 2"

Fig.8

Total deformation and equivalent stress distribution of 2 models under working condition 3"

Fig.9

Deformation trend of plate-spring with coupled flexible tread structure"

Fig.10

Coupled flexible tread wheel structure model"

Fig.11

Total deformation and equivalent stress distribution of coupled flexible tread model underworking condition 1"

Fig.12

Total deformation and equivalent stress distribution of coupled flexible tread model underworking condition 2"

Fig.13

Total deformation and equivalent stress distribution of coupled flexible tread model under working condition 3"

Fig.14

Design figure of wheel"

Fig.15

Load-deformation behavior for wheel"

Fig.16

Deformation of coupled flexible tread structureduring load"

1 Votava J E, Petro N E. Towards a selenographic information system: Apollo 15 Mission Digitization[C]∥AGU Fall Meeting Abstracts. San Francisco:American Geophysical Union,2012.
2 Asnani V, Delap D, Creager C. The development of wheels for the Lunar Roving Vehicle[J].Journal of Terramechanics,2009,46(3):89-103.
3 Murphy Jr T W, Adelberger E G, Battat J B R, et al. Laser ranging to the lost Lunokhod 1 reflector[J]. Icarus, 2011, 211(2):1103-1108.
4 Abdrakhimov A M, Basilevsky A T, Head J W, et al. Luna 17/Lunokhod 1 and Luna 21/Lunokhod 2 landing sites as seen by the Lunokhod and LRO cameras[C]∥Lunar and Planetary Science Conference. Texas:Lunar and Planetary Institute,2011.
5 路达,刘金国,高海波.星球表面着陆巡视一体化探测机器人研究进展[J].航空学报,2020,41(1): 523742.
Lu Da, Liu Jin-guo, Gao Hai-bo. Integrated exploration robots forplanetary surface landing and patrolling:a review[J]. ActaAeronatica et Astronautica Sinica,2020,41(1): 523742.
6 陈百超,邹猛,党兆龙,等.CE-3月球车筛网轮月面沉陷行为试验研究[J].吉林大学学报:工学版,2019,49(6):1836-1843.
Chen Bai-chao, Zou Meng, Dang Zhao-long, et al. Experiment on pressuresinkage for mesh wheels of CE-3 lunar rover on lunar regolith[J].Journal of Jilin University(Engineering and Technology Edition),2019,49(6):1836-1843.
7 Shirley D L. Touching Mars: 1998 status of the Mars robotic exploration program[J]. Acta Astronautica, 1999, 45(4-9): 249-265.
8 Leger P C, Trebi-Ollennu A, Wright J R, et al. Mars exploration rover surface operations: Driving spirit at gusev crater[C]∥2005 IEEE International Conference on Systems Man and Cybernetics Proceedings.Waikoloa, HI: IEEE,2005:1815-1822.
9 Biesiadecki J J, Baumgartner E T, Bonitz R G, et al. Mars exploration rover surface operations[J].IEEE Robotics & Automation Magazine,2006,13(2):63-71.
10 Andrew G. Mars 2020 mission Perseverance rover [EB/OL].[2021/04/01].
11 潘冬, 贾阳, 袁宝峰, 等. 祝融号火星车主动悬架式移动系统设计与验证[J].中国科学:技术科学,2022, 52(02): 278-291.
Pan Dong, Jia Yang, Yuan Bao-feng, et al. Design and verification of the active suspension mobility system of the Zhurong Mars rover[J].Sci Sin Tech, 2022,52:278⁃291.
12 Andy B. NASA & goodyear design airless spring tire for extraterrestrial surfaces[EB/OL]. [2021-04-01].
13 Masursky H. An overview of geological results from Mariner 9[J]. Journal of Geophysical Research, 1973, 78(20):4009⁃4030.
14 Nakashima H. Soil⁃wheel interactions[J]. Encyclopedia of Earth Sciences Series, 2011,4:810-813.
15 路达.基于驱动性能试验的载人月球车车轮结构设计[D].哈尔滨:哈尔滨工业大学机电工程学院,2015.
Lu Da. Research on the wheel design of manned lunar rover vehicle based on experiment of driving performance[D]. Harbin: School of Mechatronics Engineering, Harbin Institute of Technology,2015.
16 Zou M, Zhu J Z, Wang K, et al. Design and mechanical behavior evaluation of flexible metal wheel for crewed lunar rover[J]. Acta Astronautica,2020,176:69-76.
17 Patel N, Slade R, Clemmet J. The ExoMars rover locomotion subsystem[J].Journal of Terramechanics,2010,47(4):227-242.
18 Armin W, Rebele B, Josef R, et al. LRU-lightweight rover unit[C]∥13th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA). Niederlande:Aerospace Center,2015:1-8.
19 申学慧.载人月球车柔性金属车轮结构设计与分析[D].重庆:重庆大学汽车工程学院,2016.
Shen Xue-hui. Structure design and analysis of manned lunar rover flexible metal wheel[D]. Chongqing:College of Automotive Engineering,Chongqing University,2016.
[1] Zhuang-zhuang LIU,You-wei ZHANG,Peng-yu JI,Abshir Ismail Yusuf,Lin LI,Ya-zhen HAO. Study on heat transfer characteristics of electric heating snow melting asphalt pavement [J]. Journal of Jilin University(Engineering and Technology Edition), 2023, 53(2): 523-530.
[2] Chen HUA,Run-xin NIU,Biao YU. Methods and applications of ground vehicle mobility evaluation [J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(6): 1229-1244.
[3] Zhi ZHENG,Bo GENG,Fu-min WANG,Jun-hong DONG,Si-si WEI. Improvement of protective ability for existing low⁃grade concrete guardrail [J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(6): 1362-1374.
[4] Jian SUN,Bin PENG,Bing-guo ZHU. Internal thermodynamic characteristics and performance test of new oil⁃free scroll compressor [J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(12): 2778-2787.
[5] Yong-hui SHANG,Lin-rong XU,Wei-zheng LIU,Yu CAI. Dynamic features of transition section between improved soil and A⁃filled of heavy⁃haul railway [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(6): 2128-2136.
[6] Yan-feng JIA,Da-yi QU,Lu LIN,Rong-han YAO,Xiao-long MA. Coordinated speed control of connected mixed traffic flow based on trajectory [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(6): 2051-2060.
[7] Zong-wei YAO,Xu-dong GAO,Gang LIU,Qiu-shi BI. Research on working performance of vertical screw stirring mill based on numerical simulations [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(5): 1642-1650.
[8] Zheng-lei YU,Li-xin CHEN,Ze-zhou XU,Ren-long XIN,Long MA,Jing-fu JIN,Zhi-hui ZHANG,Shan JIANG. Analysis of mechanical characteristics and recovery characteristics of bionic protective structures based on additive manufacturing [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(4): 1540-1547.
[9] Zheng-lei YU,Ren-long XIN,Li-xin CHEN,Yi-ning ZHU,Zhi-hui ZHANG,Qing CAO,Jing-fu JIN,Jie-liang ZHAO. Load bearing characteristics of honeycomb protection structure [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(3): 1140-1145.
[10] Ya-feng GONG,Yun-ze PANG,Bo WANG,Guo-jin TAN,Hai-peng BI. Mechanical properties of new prefabricated box culvert structure based on road conditions in Jilin Province [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(3): 917-924.
[11] Chang SU,Ying HAN,Ying-chao ZHANG,Zhen-hua MIAO. Influence performance with wheel spoke design parameters of vehicle aerodynamic [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(1): 107-113.
[12] Zheng-wei GU,Lin CHEN,Li-hui ZHAO,Hong XU,Xin LI,Ge YU. Simulation of stamping process of some reinforcement plate below windows of railway vehicles [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(2): 504-511.
[13] Xin CHEN,Ning WANG,Chuan-liang SHEN,Xiao FENG,Chang-hai YANG. Effect of rearview mirror modeling on aerodynamic noise of front window [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(2): 426-436.
[14] Wei-ping SHI,Xu ZHAO,Xing-jun HU,Tian-ming YU,Bo-wen LIU,Yan DUAN. Design and numerical simulation of water restriction device AICD for natural gas exploitation [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(6): 1986-1991.
[15] Ya-feng GONG,Bo WANG,Guo-jin TAN,Li-min ZHANG,Wen-ding WU,Hai-peng BI. Comparative analysis of mechanical characteristics of two typical fabricated culverts in Jilin [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(6): 1865-1870.
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