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基于相似理论开展月球车轮壤相互作用系统参数量纲分析,分别以模拟月壤内聚力和密度参数不变为约束条件,推导了轮壤系统参数比例尺。采用轻质量模型样车法当量月面低重力环境影响,设计1/2比例月球模型样车;以速度和坡度为试验因素,开展月球车坡面通过性试验;分析了试验因素对各车轮滑转率和沉陷量的影响规律;讨论了不同坡度条件下驱动扭矩、挂钩牵引力和牵引系数随滑转率的变化规律。结果表明,坡度对通过性的影响明显较速度的大;随着滑转率的增加,驱动扭矩和挂钩牵引力呈现增加趋势,最大值分别为3.6 N·m和10.5 N;牵引系数呈现先增加后减小趋势,在滑转率为21.6%时达到最大值0.18。为保障月球车安全可靠的通过性能,其巡视坡度在20°以内合理。
Based on the similarity theory, the lunar rover soil interaction system parameters were analyzed. The lunar soil cohesion and density parameters were simulated as constraint conditions, and the scale parameters of the lunar soil system were deduced. The model of 1/2 scale lunar model was designed with light mass model-like vehicle method, and the lunar rover passing test was carried out with speed and gradient as the experimental factors. The rate of change and the amount of subsidence. The variation of driving torque, hauling traction and traction coefficient with slip rate under different slope conditions are discussed. The results show that the influence of slope on the passage is obviously faster than that on the slope. With the increase of the slip rate, the driving torque and the peg traction show an increasing trend with the maximum values being 3.6 N · m and 10.5 N respectively. The traction coefficient firstly increases Reduce the trend, reaching a maximum of 0.18 at a slip rate of 21.6%. In order to ensure the safety and reliability of lunar rover, the patrolling slope is reasonable within 20 °.