【作者】 梁忠超；

【导师】 邓宗全；

【作者基本信息】 哈尔滨工业大学 ， 机械设计及理论， 2011， 硕士

【摘要】 在对星球进行探测时,星球探测车是人类必不可少的工具,因为它可以搭载各种星球探测仪器,为人类减轻负重,甚至可载人以扩大探测范围。对于星球探测车最重要的是要求它能够在特殊的环境下工作,为此,在设计阶段就应了解探测车的运动性能以及车轮的环境适应性能,以提高星球车的地形适应能力,这些设计都要考虑车轮与地面相互作用的力学特性,而对于二者的力学特性的研究又离不开相应的试验和测试,因此搭建一个可以对多种星球条件下的地形环境进行轮地相互作用测试的系统是十分必要的。出于这种目的,本文对基于被动滑转原理的轮地相互作用测试技术进行了研究,并将其分为崎岖地形模拟技术和车轮被动滑转测试技术两个部分进行详细的分析。使用一个二维转动平台来实现斜坡模拟是崎岖地形模拟技术的重点。通过深入研究转动平台的二维运动,发现经连续转动后二维转动平台具有耦合特性,于是在机构上使用解耦补偿铰链来实现对二维耦合运动的解耦,并进行结构设计。最后通过理论推导对提出的机构进行运动学分析,得到机构自由度和运动关系曲线,并在使用ADAMS进行验证。通过分析国内外已有的轮地相互作用测试装置,针对现存采用主动滑转原理的系统提出了被动滑转原理,并使用车轮测试装置提供被动滑转状态。基于轮地力学进行被动滑转原理公式的推导,同时以干沙为例解释了在被动滑转状态下的车轮力学特性。为了提供被动滑转状态,提出车轮被动滑转测试装置的机构原理,并进行三维设计,同时对轮压误差进行了预测,最后分析了其误差产生的原因,提出了误差补偿算法并提高了轮压加载的精度。搭建崎岖地形模拟系统并进行了相应的试验。设计了控制系统及数据采集系统,并对崎岖地形模拟系统的运动特性进行了试验分析。更多还原

【Abstract】 When detecting various planets, planetary exploration rovers are indispensable tools, as they can carry a variety of planet detection equipment to reduce the weight of human load, manned rover can even expand the discovery scope. The most important requirement for a planetary exploration rover is its workability in special circumstances. Thus,during the designing process, we should know the rover’s motion performance and the obstacle performance of wheels in order to enhance the rover’s capability of adapting to various terrain. Of all these designs, the interactive mechanic properties between wheels and the ground must be taken into account and the relative testing are just an indispensable part in researching for this property. Therefore, it is necessary to construct a system of wheel-soil interaction performance testing under various planet conditions. For this purpose, the thesis went into further research of wheel-soil interaction performance testing technology which is based on forced slip theory.Firstly, the simulation of rough terrain of which the focal point is the implementation of the 2DOF rotating platform provides the environment of soil. By further researching the 2DOF rotating, the paper found the coupling state of 2DOF rotation and we achieved the goal of decoupling two-dimensional rotating (non-interference in the two rotations) by using decoupling hinge. Secondly, we structurally designed the proposed model. Thirdly, we made kinematic analysis through theoretical deduction and got the relative curve. Finally, we tested and verified the formula of the theoretical deduction by using ADAMS simulation model of the movement.By analyzing all the existing devices of wheel-soil interaction performance testing bed, we found some drawbacks of the existing equipments and thus proposed the forced slip theory (the realization of forced slip by using wheel-soil interaction performance testing bed).At first, we made theoretical deduction of forced slip theory based on wheel-soil mechanics. Second, we explained the mechanical properties of wheel under forced slip condition by using dry sand. Then, we proposed the mechanism of wheel-soil interaction performance testing devices, designed the structure, forecasted the error and analyzed the possible reasons of errors. At last, we proposed error compensation algorithm and improved the accuracy of the wheel loading pressure.Ultimately, the research realized the whole system and made some relative testing and designed the control system and data acquisition system. This study also made test analysis of the movement property of 2DOF rotating platform.更多还原