滑移线连续和平稳分布的变径车轮设计

Design of Diameter-variable Wheels Based on Continuity and Steady Distribution of Slip Line

基于轮地接触动力学理论,设计出一种适应沙壤土环境、具有内外双层紧贴刚性轮片和中部轮刺的新型变径车轮。分析了变径轮不同断面与土壤的作用机理和土壤流动滑移模型,通过对滑移线公式详细推导和数值计算,获得其滑移半径和等效轮周的变化规律,提出了以断面高度为主、倾角为辅的设计思想。建立了满足平稳和连续滑移线模型的剪切滑移交错层断面(可调轮刺)高度与倾角和变径比的函数关系。

Based on theories of wheel terrain contact dynamics,a new type of diameter-variable wheel,which was fit for sandy soil,with close fitting inner and outer double layers’rigid rim and a central grouser was designed.The interaction mechanism between different sections of diameter-variable wheel and soil,and the soil flow slip model were analyzed.Through the detailed derivation and numerical calculation of the soil slip-line formulas,slip-line radius and equivalent wheel rim of the diameter-variable wheel were proposed.And then,the design ideas that the height of shear-slip section as main factor and inclination angel as auxiliary factor was put forward.The functional relationship among the height of shear-slip cross-section(the adjustable grouser)and inclination angle,and diameter ratio in smooth continuous slip-line model was established.