Modeling of flexible metal wheel for pressurized lunar rover and traction performance prediction

doi:10.1002/rob.22239

CORC > 力学研究所 > 中国科学院力学研究所 > 流固耦合系统力学重点实验室(2012-)

	Modeling of flexible metal wheel for pressurized lunar rover and traction performance prediction
	Zhu, Jianzhong ; Shen, Yan ; Hao, Pujun ; Liu, Jingna ; Li YQ(李玉琼); Wang, Kang ; Zou, Meng
刊名	JOURNAL OF FIELD ROBOTICS
	2023-08-14
关键词	flexible metal wheel pressurized lunar rover traction performance wheel soil interaction model
ISSN号	1556-4959
DOI	10.1002/rob.22239
英文摘要	The pressurized lunar rover has become one of the most important equipment in lunar exploration and resource utilization missions. On the terrain of soft lunar regolith, the rover wheels are easy to slip, sink, or even fail to move. To improve the traction performance of the rover on soft lunar soil, it is necessary to study the interaction between the wheels and the lunar soil. The deformation of the flexible wheel provides a larger contact area, which results in greater tractive force. Moreover, flexible wheels have better comfort and stability than rigid wheels, which are needed for manned rovers. However, there are few studies on the wheel soil interaction model of the heavy flexible wheel for the pressurized lunar rover. In this paper, a metal flexible wheel soil interaction model for pressurized lunar rovers was established, and the traction performance of the flexible wheel was predicted by using this model. Then, the accuracy of the wheel soil interaction model was verified by the soil bin test. The experimental results showed that the average error between the theoretical value of sinkage and the experimental value was 13.9%, and the average error between the theoretical and experimental value of drawbar pull was 11.5%, indicating that the model has high prediction accuracy. The new model can be used to predict the traction performance of flexible wheels and the experimental results can provide a reference for the flexible wheel design lunar rovers.
分类号	二类/Q1
WOS研究方向	Robotics
语种	英语
WOS记录号	WOS:001047974700001
资助机构	Experiments for Space Exploration Program ; Guangdong Aerospace Research Academy Research Project ; National Natural Science Foundation of China ; China Academy of Space Technology [TKTSPY-2020-05-01] ; Youth Innovation Promotion Association of the Chinese Academy of Sciences [Y2022009]
其他责任者	Li, YQ (corresponding author), Chinese Acad Sci, Inst Mech, Key Lab Mech Fluid Solid Coupling Syst, Beijing 100190, Peoples R China.
内容类型	期刊论文
源URL	[http://dspace.imech.ac.cn/handle/311007/92668]
专题	力学研究所_流固耦合系统力学重点实验室(2012-)
作者单位	1.{Wang Kang} Inst Spacecraft Syst Engn CAST Beijing Peoples R China 2.{Li Yuqiong} Guangdong Aerosp Res Acad Guangzhou Guangdong Peoples R China 3.{Li Yuqiong} Chinese Acad Sci Inst Mech Key Lab Mech Fluid Solid Coupling Syst Beijing 100190 Peoples R China 4.{Zhu Jianzhong, Shen Yan, Zou Meng} Jilin Univ Key Lab Bion Engn Educ Minist Changchun Peoples R China 5.{Zhu Jianzhong, Hao Pujun, Liu Jingna} Tianjin Univ Technol Natl Demonstrat Ctr Expt Mech & Elect Engn Educ Tianjin Peoples R China 6.{Zhu Jianzhong, Hao Pujun, Liu Jingna} Tianjin Univ Technol Sch Mech Engn Tianjin Key Lab Adv Mechatron Syst Design & Intell Tianjin Peoples R China
推荐引用方式 GB/T 7714	Zhu, Jianzhong,Shen, Yan,Hao, Pujun,et al. Modeling of flexible metal wheel for pressurized lunar rover and traction performance prediction[J]. JOURNAL OF FIELD ROBOTICS,2023.
APA	Zhu, Jianzhong.,Shen, Yan.,Hao, Pujun.,Liu, Jingna.,李玉琼.,...&Zou, Meng.(2023).Modeling of flexible metal wheel for pressurized lunar rover and traction performance prediction.JOURNAL OF FIELD ROBOTICS.
MLA	Zhu, Jianzhong,et al."Modeling of flexible metal wheel for pressurized lunar rover and traction performance prediction".JOURNAL OF FIELD ROBOTICS (2023).