Exploring Tractive Performance of Planetary Rover's Rigid Wheels on Mixed Terrain | Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University

Open Access

表2

土壤力学参数和接触力学参数[14-15]

参数名称	值
变形指数N	1
内聚力变形模量k_c/(N·cm^-(n+1))	0.14
摩擦变形模量k_ϕ/(N·cm^-(n+2))	0.82
内聚力c/(N·cm^-2)	0.172
内摩擦角ϕ/(°)	35
剪切变形模量K/cm	1.78
接触区域刚度值K_d/(N·mm^-1)	5 000
力指数N	2
最大阻尼系数c_max	80
全阻尼时最大穿透量d/mm	0.1
静摩擦因数μ_s	0.7
动摩擦因数μ_d	0.57
静摩擦转换速度v_s/(mm·s^-1)	0.1
动摩擦转换速度v_d/(mm·s^-1)	10

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