【作者】 尹甲人；

【导师】 高海波；

【作者基本信息】 哈尔滨工业大学 ， 机械设计及理论， 2008， 硕士

【摘要】 深空探测具有重大的经济和军事意义,世界上很多国家对此展开了深入的研究。进行着陆探测,一辆性能优异的探测车是必不可少的装备。探测车的运动性能在很大程度上取决于月球车车轮的转向与驱动性能,因而对此进行深入研究就显得非常重要。目前,国内一些高校和科研院所研制了多种采用不同转向及驱动方式的探测车原理样机,但是对这些驱动与转向方式的优劣并没有进行深入的分析与测试。本文将基于地面力学和土力学的相关理论,对刚性车轮与土壤相互作用的转向力学特性进行了深入的分析和研究,并设计出探测车转向驱动一体化布置于轮内的转向及驱动装置。基于土壤的承压和剪切特性模型,以及推土模型,建立车轮的转向力学特性分析模型,为研究车轮与土壤作用的力学特性奠定理论基础。为了分析不同车轮在不同转向方式下的转向性能,对圆柱轮、鼓形轮在正交偏心和非正交转向情况下建立力学模型。在现有的车轮转向力矩测试系统的基础上,设计出新的能够实现正交偏心转向和非正交转向的实验装置。利用该实验装置,测量圆柱车轮和鼓形轮在正交及非正交情况下的转向力矩,并分析比较不同车轮在不同转向方式下,转向性能的优劣,并对模型进行修正。根据模型计分析和实验测试的结果,分析在非正交情况下,鼓形轮转向性能的特点。根据结构及性能指标确定合适的非正交角度,设计出驱动转向一体化车轮非正交转向结构。分析其关键部件的受力情况,并对一体化驱动转向结构进行改进。更多还原

【Abstract】 Deep space exploration plays an important role in national economical and military development. Many countries in the world begin to do research on this project. In order to land on celestial body and carry out science experiments, a wheel robot with high performance is necessary. The performance of the wheel robot depends mostly on the performance of the it’s wheel’s driving and steering performance, so it is crucial to study about this.Now some universities and institutes have made some prototypes of the exploration rover which use different driving and steering mode in China, but the driving and steering mode’s performance is seldom studied and tested until now. This paper will analyze the mechanic performance of the wheel’s driving and steering mode and design a integrated system which put the wheel’s driving and steering device inner the wheel.A mechanic model when the rigid wheel of exploration rover steering on soft soil was constructed based Bekker’s press-sinkage and Janosi’s shear-displacement models.Design new testing device which can test Perpendicular-Offset steering moment and Non-Perpendicular steering moment based on the testing system we have. And use the new testing system we designed test different wheel’s steering moment on different steering mode. And compare their steering performance to decide which wheel and which steering mode to be used.Base on the model’s analysis result and testing date, we choose the right wheel and right steering mode is drum wheel non-perpendicular steer. Finally, we design a wheel’s steering and driving device which Non-Perpendicularly put them inner the wheel.更多还原