可变直径轮月球探测车及其越障能力分析

Moon detection vehicle with diameter-variable wheels and its obstacle surmounting capability analysis

设计了一种车轮直径可变的月球探测车，由装在轮毂内的电机驱动车轮收缩和张开，车轮直径变化范围为200～390mm。应用地面力学方程和月球表层土壤（以下简称月壤）参数计算预测了车轮的挂钩牵引力。并由探测车的准静态力学方程得到了车轮的越障阻力，提出了一种新的算法，考虑后轮和松软路面的作用，得到了前车轮最大越障高度与车轮直径变化之间的关系。分析表明，可变直径车轮使月球探测车具有更好的通过性能。

A kind of moon detection vehicle with diameter-variable wheels has been designed. The shrinkage and extension of wheels were driven by electric motors installed inside the wheel hub, the variation range of wheel diameters was 200 - 390 mm. Utilizing the terra-mechanics equation and parameters of the lunar topsoil （the following is abbreviated as lunar-soil ）, the drawbar clevis pulling force of wheel was predicted by calculation. A kind of new algorithm has been put forward for obtaining the obstacle surmounting resistance of wheels by the quasi-static mechanics equation of detection vehicle. By considering the effect of rear wheel and soft road surface, the relationship between the maximum obstacle surmounting height of front wheel and the variation of wheel diameter was obtained. The analysis showed that the diameter variable wheel could let the moon detection vehicle be able to possess much better passing capability.