Analysis of drawbar pull to CE-4 Lunar rover based on rutting image of wheel

被引：0
|
作者：
Hu Z.-Y. [1 ,2 ]
Shen Y. [2 ,3 ]
Wang W.-J. [1 ,2 ]
Luo X.-T. [1 ,2 ]
Zou M. [2 ,3 ]
机构：
[1] Shanghai Aerospace System Engineering Institute, Shanghai
[2] Joint Lab for Planetary Terramechanics and Bionics Engineering, Shanghai
[3] Key Laboratory of Bionics Engineering, Ministry of Education, Jilin University, Changchun
来源：
Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) | 2023年 / 53卷 / 09期
关键词：
lunar rover; lunar soil; rutting; slip ratio; terramechanics;
D O I：
10.13229/j.cnki.jdxbgxb.20211193
中图分类号：
学科分类号：
摘要：
In order to assess the lunar surface trafficability of YuTu-2 lunar rover，a kind of method of lunar rover drawbar pull evaluation based on slip ration information was proposed. The wheel of the Yutu-2 lunar rover and its ground prototype were used as the test objects，the YuTu-2's lunar drive was simulated by the whole vehicle test and soil trough test. With the input parameters of rutting information，slip rate and wheel load，the calibration models of sinkage-slip rate and rut spacing-slip rate were established，the slip rate was identified by Matlab image processing. The results showed that the slip rate of the YuTu-2 lunar rover traveled in the specified area of the lunar surface at locations D'，A'，and B'，respectively is 10.45%，12.96%，and 19.70%，and the drawbar pull is 177.03 N，181.62 N，and 194.47 N.The ground test and inversion calculation results reveal that YuTu-2 travels well in the aforementioned region and satisfies the design requirements. © 2023 Editorial Board of Jilin University. All rights reserved.
引用
收藏
页码：2474 / 2482
页数：8
相关论文
共 29 条
  • [1] Cherkasov I I, Shvarev V V., Soviet investigations of the mechanics of lunar soils, Soil Mechanics and Foundation Engineering, 10, 4, pp. 252-256, (1973)
  • [2] Leonovich A K, Gromon V V, Rybakov A V, Et al., Studies for lunar ground mechanical properties with the self-propelled lunokhod-l, pp. 120-135, (1971)
  • [3] Leonovich A K, Gromov V V, Rybakov A V, Et al., Investigations of the mechanical properties of the lunar soil along the path of Lunokhod-1, pp. 53-54, (1972)
  • [4] Zacny K, Wilson J, Craft J, Et al., Robotic Lunar Geotechnical Tool, (2010)
  • [5] Han Hong-shuo, Chen Jie, 21st century foreign deep space exploration development plans and their progresses, Spacecraft Engineering, 17, 3, pp. 1-22, (2008)
  • [6] Cui Ping-yuan, Xu Rui, Zhu Sheng-ying, Et al., State of the art and developement trends of on-board autonomy technology for deep space explore, Acta Aeronautica et Astronautica Sinica, 35, 1, pp. 13-28, (2014)
  • [7] Xie Yang-min, Ji Li, Wei Xiang-quan, Et al., Domestic and overseas research status on autonomous navigation technology of planetary rovers, Aerospace Shanghai, 38, 1, pp. 61-71, (2021)
  • [8] Team R., Characterization of the martian surface deposits by the Mars pathfinder rover, sojourner, Science, 278, 5344, pp. 1765-1768, (1997)
  • [9] Moore H J, Bickler D B, Crisp J A, Et al., Soil-like deposits observed by Sojourner, the pathfinder rover[J], Journal of Geophysical Research Planets, 104, E4, pp. 8729-8746, (1999)
  • [10] Sullivan R, Anderson R, Biesiadecki J, Et al., Cohesions, friction angles, and other physical properties of martian regolith from mars exploration rover wheel trenches and wheel scuffs
123