【作者】 刘刚；

【导师】 杜建军；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2010， 硕士

【摘要】 利用月球车在月球表面进行科学考察是月球探测的关键技术之一。为了完成探测任务,希望月球车运动很远的距离,越过复杂的地形;月球表面有杂乱的岩石以及覆盖一层厚厚的月壤,月球车在上面行走会出现打滑沉陷、翻滚,影响运动性能。月球车车轮与月壤直接接触,不仅起到承载月球车的作用,而且对月球车的运动能力、适应地形的能力也有很重要的作用。因此,研究车轮与地面的相互作用力学性能,对于开发具有较高通过性的月球车起到很重要的作用,其对月球车的整体构型设计、运动学分析、参数的辨识和路径规划等都起到很重要的作用。本文主要进行单轮实验装置控制和数据采集系统设计,月球车车轮在模拟月壤中的驱动性能理论、仿真与实验,以及车轮驱动性能的研究。基于地面力学理论和研究方法,设计月球车单轮实验装置控制和数据采集系统,建立驱动电机控制模型,控制和数据采集系统主要由硬件和软件两部分组成,能够实现对各电机的运动控制和传感器的数据采集,并进行相关驱动性能实验;进行车轮构型参数、土壤参数、载荷、滑转率和车轮牵引性能间的相互关系分析,建立轮地作用数学模型,通过实验验证理论模型在预测月球车驱动车轮牵引性能方面的正确性。在实验与仿真的基础上对车轮的驱动性能进行研究,运用驱动性能评价指标分析车轮构型参数对驱动性能的影响;基于实验数据详细阐述土壤承压特性参数、剪切特性参数以及垂直载荷对车轮驱动性能的影响;利用轮地作用原理分析月球车的爬坡能力,并给出改善方法。更多还原

【Abstract】 Surface mobility by using wheeled mobile robots (Rovers) is one of the important technologies for lunar/planetary exploration missions. These planetary exploration rovers are expected to travel long distances and perform complex tasks in order to fulfill challenging mission goals. Surface terrain of the Moon is covered with fine-grained soil called regolith, or boulders, rocks, or stones spread over the terrain. Because of the challenging terrain, the rover should be aware of mobility hazards, such as wheel slip/stuck, vehicle tip-over, and collision with obstacles. In particular, the wheel will easily slip on loose soil, and then, wheels might get stuck. Subsequently, Research on the mechanical character of wheel-soil interaction and actuating the character of wheel has important significance for developing wheel. It is also important for the dynamic analysis, parameter distinguishing, simulation, road planning, and relative technology of the whole lunar rover. This dissertation researches the designing the data acquisition and control system of the experimental facility. Use theory and experiment of the lunar rover on the homologous soil. Evaluation way by actuating character of the wheel is a part in it.Based on the theory of terrain mechanics and studying method, the model of the driving electromotor is build up and designed the data acquisition and control system of the experimental facility which is constituted by the hardware and software. The electromotor and sensor could be drived and acquired by the system. the mathematical models between wheel and terrain are built up by analyzing the relation of construction, soil parameters, interacting load, slip ratio, traction of the wheel, furthermore validated the model through the wheel-soil interactions experiment.Finally, the research on traction performance evaluation methods is made to base on the theoretical research, simulation and experiments of wheel. The slope traversability analysis for slope climbing limit is described. The improvement of the trafficability limit is also suggested.更多还原