Steering mechanical analysis for lunar rover wheel

• Published in: High technology letters Vol. 15; no. 4; pp. 423 - 428
• Main Author: 刘吉成 Gao Haibo Deng Zongquan
• Format: Journal Article
• Language: English
• Published: School of Mechatronics Engineering,Harbin Institute of Technology,Harbin 150001,P.R.China 01.12.2009
• Subjects: 力学分析; 土壤参数; 开关磁阻电机; 方向盘; 月球探测器; 月球车; 转向阻力矩; steering mechanical model; terramechanics; steering radius; lunar rover; wheel
• ISSN: 1006-6748
• DOI: 10.3772/j.issn.1006-6748.2009.04.014

Facing the requirement of establishing a steering mechanical model for the wheel configuration design, selection of steering motors, dynamic analysis and simulation of the lunar rover, shear force beneath the steering wheel, bulldozing resistance acting on steering wheel rims and side surfaces respectively are conducted on the basis of the wheel-loose soil interaction. The quantitative relation between steering resistance moment （SRM） and steering radius, dimension of the wheel, soil parameters is established. To validate the model, a single-wheel test bed is employed to test the steering performance of a wheel with 0.15735m radius and 0.165m width when the steering radius is 0.00m, 0.04m, 0.08m, 0.12m and 0.16m, respectively. The SRM is approached asymptotically with the increasing steering angle and almost proportional to the steering radius. The theoretical results of SRM are compact with the experimental results, which shows that the steering model can predict the experimental results well.