Based on the fact that the current wheels of lunar rover vehicle are difficult to meet the needs of manned transportation, a new woven wiry cloth wheel consist of hub-rim combination slide mechanism is designed, to ensure the convenience of changing wheel and the ability of shock resistance. Simulation models are created to analyze the trafficability of the designed wheel after demonstrating the accuracy of the simulation. Compared with the same-size conventional lunar rover wheels, the designed wheel has lighter structure and more excellent shock resistance. It also has stronger traction than the smooth rigid wheel because the tire of the designed wheel has elastic deformation which increases its contact area with lunar surface. The conventional normal and shear stress distribution models are improved by importing a slope factor to reflect the deformation of wheel. With loads of 1 000 N and 1 500 N, while the slip ratio is 0.2, the relative error of the calculation value using the improved models and simulation data for drawbar pull is less than 15%. Traction coefficient is used to assess the trafficability, and a curve is fitted and the equation is established about traction coefficient together with load based on the coefficient of determination, which can provide the optimal load for trafficability.
XIAO Wanshen
,
ZHANG Yan
. Design of Wheel of Manned Lunar Rover and Research on Terramechanics Model for Wheel-terrain Interaction Based on Elastic Wheel[J]. Journal of Mechanical Engineering, 2016
, 52(10)
: 119
-125
.
DOI: 10.3901/JME.2016.10.119
[1] RICHTER L,ELLERY A,CAN Y,et al. A predictive wheel soilinteraction model for planetary rovers validated in test beds and against MER mars rover performance data[C]//10th European Conference of the International Society for Terrain-Vehicle Systems, Berlin：European Planetary Science Congress,2006,18-22.
[2] 马传帅,文桂林,周景宇,等. 月球车沙地行驶动力学建模与仿真[J]. 机械工程学报,2011,47(23)：97-103.
MA Chuanshuai,WEN Guilin,ZHOU Jingyu,et al. Whole-vehicle Dynamical model and simulation for lunar rover traveling on the loose soil[J]. Journal of Mechanical Engineering,2011,47(23)：97-103.
[3] 梁忠超,高海波,闫冰,等. 载人月球车等效侧倾刚度和阻尼计算方法[J]. 机械工程学报,2015,51(5)：1-13.
LIANG Zhongchao,GAO Haibo,YAN Bing,et al. Calculation approach of the equivalent roll stiffness and damping of the lunar roving vehicle[J]. Journal of Mechanical Engineering,2015,51(5)：1-13.
[4] MILLER D P,HUNT T,ROMAN M,et al. Experiments with a long-range planetary rover[C]//Proceeding of the 7th International-Symposium on Artificial Intelligence,Robotics and Automation in Space,Oklahoma：University of Oklahoma Norma,2003：1-9.
[5] 李雯,高峰,孙鹏,等. 复合材料深空探测车车轮的设计[J]. 吉林大学学报,2006,36(4)：502-505.
LI Wen,GAO Feng,SUN Peng,et al. Design of composite material wheel of planetary rover[J]. Journal of Jilin University,2006,36(4)：502-505.
[6] 邓宗全,范雪兵,高海波,等. 载人月球车概念设计[J]. 深空探测研究,2010,8(3)：1-10.
DENG Zongquan,FAN Xuebing,GAO Haibo,et al. Conceptual design of manned lunnar rovers[J]. Deep Space Exploration,2010,8(3)：1-10.
[7] FALK A. Advanced mobility in difficult terrain[J]. Journal of Terramechanics,2004,41(2)：101-111.
[8] 刘聚德. 车辆沙地行驶理论[M]. 北京：机械工业出版社,1996.
LIU Jude. Mechanics of sand-vehicle system[M]. Beijing：China Machine Press,1996.
[9] BEKKER G . Theory of land locomotion[M]. Ann Arbor：University of Michigan Press,1956.
[10] AUBEL T. The interaction between the rolling tyre and the soft soil-FEM simulation by VENUS and validation[C]//Proceedings of the European ISTVS Conference,Vienna：European ISTVS,1994：169-188.
[11] CHIROUX R C,FOSTER W A,JOHNSON C E,et al. Three-dimensional finite element analysis of soil interaction with a rigid wheel[J]. Applied Mathematics and Computation,2005,162(2)：707-722.
[12] LEWIS B A. Manual for LS-DYNA soil material model 147[R]. Washington：Department of Transportation,Federal High way Administration,2004：10-13.
[13] BEKKER G,Introduction to terrain-vehicle systems[M]. Michigan：University of Michigan Press,1969.
[14] SHIBLY H,IAGNEMMA K,DUBOWSKY S. An equivalent soil mechanics formulation for rigid wheels in deformable terrain with application to planetary exploration rovers[J]. Journal of Terramechanics,2005,42(1)：1-13.
[15] 石睿杨. 低重力场对模拟月壤力学特性及轮-壤作用关系影响的研究[D]. 长春：吉林大学,2014.
SHI Ruiyang. Research on influence of low gravity to mechanical properties of lunar soil simulant and interaction between lunar soil simulant and lunar rover[D]. Changchun：Jilin University,2014.
