首页|反映载荷影响的星球车车轮试验及模型研究

反映载荷影响的星球车车轮试验及模型研究

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星球车在上下坡或以蠕动、抬轮等步态移动时,车轮的垂直载荷会发生明显变化,分析载荷对轮地相互作用的影响可以对星球车地面巡视任务提供支持.利用单轮测试台进行多种载荷情况下的单轮试验,得出车轮沉陷量、驱动阻力矩和挂钩牵引力随垂直载荷的变化规律.以240 kg火星车六轮均载的近似载荷值160 N作为典型情况,采用基于泰勒级数和Sobol方差分解的解析方法分析轮地相互作用模型中各参数的灵敏度.结果表明,承压特性参数沉陷指数和剪切特性参数土壤内摩擦角具有较高的灵敏度.结合试验数据及各参数灵敏度,分析车轮载荷对轮地相互作用模型的影响,建立反映载荷影响的沉陷指数模型,该模型对试验数据的拟合优度可达0.99,对挂钩牵引力的估计误差大部分在±5 N以内,对车轮沉陷量的估计误差不超过3 mm.
Experimental Study and Modeling Considering the Influence of Wheel Load for Planetary Exploration Rovers
When the planetary rover is moving up/down a hill or using peristaltic or wheel-lifting gait,the vertical load on its wheels will change significantly.Analyzing the impact of the vertical load on the wheel-terrain interaction can provide support for the rover's extraterrestrial exploration.The single wheel experiments under different vertical load are carried out using a single-wheel testbed,the changing trends of wheel sinkage,driving resistance torque and drawbar pull with vertical load are obtained.Taking the approximate load value 160 N for the average load of the six wheels of the 240 kg Mars rover as a typical situation,the sensitivity of each parameter in the wheel-terrain interaction model is analyzed using an analytical method.The results show that the bearing characteristic parameter sinkage exponent and the shearing characteristic parameter soil internal friction angle have higher sensitivity.The influence of wheel load on the wheel-terrain interaction model is analyzed based on the results of experiments and sensitivity analysis,and a sinkage exponent model reflecting the influence of the load is established.The goodness of fit of the model to the experimental data can reach 0.99,the estimation error of the drawbar pull is mostly within±5 N,and the estimation error of the wheel sinkage is less than 3 mm.

terramechanicsinfluence of loadsinkage-exponentsensitivity analysisplanetary exploration rovers

袁野、杨怀广、丁亮、兰清宁、杨超杰、高海波、邓宗全

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哈尔滨工业大学机器人技术及系统国家重点实验室 哈尔滨 150080

地面力学 载荷影响 沉陷指数 灵敏度分析 星球车

国家重点研发计划国家自然科学基金国家自然科学基金黑龙江省自然科学基金中央高校基本科研业务费专项中央高校基本科研业务费专项

2022YFB47023005200512252205011LH2022E054HIT.OCEF.20230422023FRFK02018

2024

10.3901/JME.2024.14.263

机械工程学报
中国机械工程学会

机械工程学报

CSTPCD北大核心
影响因子：1.362
ISSN：0577-6686
年,卷(期)：2024.60(14)