刚性轮在细砂土中下沉量的仿真分析

Simulation of the Sinking Volume of a Rigid Wheel in Fine Sandy Soil

野外无人探测车多用于沙漠或月球表面,实现探测或搜救等功能。为保证探测车牵引性能,提高探测车工作效率,对车轮表面特征进行优化。基于传统车辆地面力学理论建立了刚性轮-细砂土有限元模型,并分析三种轮面特征对刚性轮静态沉陷、动态沉陷以及牵引性能的影响规律。仿真结果表明,模型能够较好地模拟刚性轮-细砂土的相互作用特性;相对于矩形履刺,梯形履刺具有更好的抗沉陷性能;当梯形履刺数目和高度不变时,顶边长度与抗沉陷性能成正相关,而长度过长或者过短,刚性轮牵引杆拉力周期性波动幅度均增大,选择合适的顶边长度可以具有良好的沉陷特性和牵引性能。

Field unmanned exploration vehicles are mostly used on the desert or lunar surface to realize the functions of exploration or search and rescue.In order to ensure the traction performance of the rover and improve the working efficiency of the rover,the wheel surface characteristics are optimized.Based on the traditional vehicle ground mechanics theory,the finite element model of a rigid wheel-fine sandy soil is established,and the effects of three wheel surface characteristics on the static sinkage,dynamic sinkage and traction performance of a rigid wheel are analyzed.The simulation results show that the model can better simulate the interaction characteristics of a rigid wheel-fine sandy soil.Compared with rectangular spikes,trapezoidal spikes have better anti-sinking performance.When the number and height of trapezoidal spikes remain unchanged,the length of the top edge is positively correlated with the anti-sinking performance,and if the length is too long or too short,the periodic fluctuation amplitude of the tension of the rigid wheel drawbar increases.Selec-ting an appropriate top edge length can have good sinking characteristics and traction performance.