Volume 38, Number 6, December 2020
|Page(s)||1240 - 1248|
|Published online||02 February 2021|
Exploring Tractive Performance of Planetary Rover's Rigid Wheels on Mixed Terrain
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China
Based on insufficient studies of the tractive performance of a planetary rover's rigid wheels in soft soil and hard mixed soil terrains, a method for studying the tractive performance is presented. The Wong-Reece' interaction model was used as the dynamic model for wheel-soil contact. The sinkage model and the drawbar pull force model were modified and then verified with experimental results. Based on the Hertz contact theory, a nonlinear friction spring damping model was adopted as the wheel-bedrock contact model. An additional terrain hardness array was introduced for setting and recognizing the mixed terrain with ground mechanics parameters. With the platform for co-simulating the navigation and dynamics of a planetary rover, the simulation program was developed to dynamically simulate the whole planetary rover with two wheel-ground contact models. Taking the Mars rover as an example, its whole model was established with the MSC.Adams software. The dynamic simulation of the Mars rover on the soft terrain and mixed terrain was carried out respectively. The simulation results show that the Mars rover's velocity fluctuates greatly on the mixed terrain, and that the Mars rover gains greater drawbar pull force when traveling on the mixed terrain than on the only soil terrain.
Key words: rigid wheel / wheel-ground contact / mixed terrain / performance
关键字 : 刚性车轮 / 轮地接触 / 混合地形 / 牵引性能
© 2020 Journal of Northwestern Polytechnical University. All rights reserved.
This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Current usage metrics show cumulative count of Article Views (full-text article views including HTML views, PDF and ePub downloads, according to the available data) and Abstracts Views on Vision4Press platform.
Data correspond to usage on the plateform after 2015. The current usage metrics is available 48-96 hours after online publication and is updated daily on week days.
Initial download of the metrics may take a while.