基于模拟火星地形的“朱戎”号火星探测器的爬坡能力

IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL Journal of Terramechanics Pub Date : 2023-04-01 DOI:10.1016/j.jterra.2023.01.002
Yansong Liu , Yingchun Qi , Dong Pan , Zhen Chen , Baofeng Yuan , Meng Zou
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引用次数: 0

摘要

由于长期的风化侵蚀气候,火星表面的许多陨石坑地形覆盖着松散的风化沉积碎屑,火星探测车穿越这些带有软土的斜坡状地形时,很容易打滑甚至下沉,可能会影响勘测任务。因此,研究火星漫游者的爬升能力对火星探测任务具有重要意义。在模拟火星地形和土壤参数得到充分测量的情况下,验证了基于主-被动悬架的“朱荣”号火星探测器的爬坡能力。通过对最大爬坡距离(MCD)、滑移率、功率、电流、能量和效率的分析,探讨了不同爬坡方式、土壤状态和动态参数(速度、角速度)设置下的爬坡能力。试验结果表明,直接爬升失效后,蠕动模式仍能继续爬升,且周期MCD受角速度的影响。功率和电流数据可以有效反映月球车爬坡的难度。在相同的动态参数下,流动站的滑移率越大,输出功率和电流越大。此外,无论是直接攀爬还是蠕动攀爬,都应尽量降低速度以延长攀爬距离。
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Gradeability of ‘Zhu Rong’ Mars rover based on the simulated Martian terrain

Due to the long-term weathering and erosion climate, many craters terrains on the surface of Mars are covered with loose weathered sedimentary debris, and Mars rovers traversing these slope-like terrains with soft soils will easily slip or even sink, and may affect the survey missions. Therefore, it is important to study the climbing ability of Mars rovers for Mars exploration missions. This work testes the climbing capability of 'Zhurong' Mars rover based on active–passive suspensions under the simulated Martian terrain and soil parameters were adequately measured. The maximum climbing distance (MCD), slip rate, power, current, energy, and efficiency are analyzed to explore the climbing abilities under different climbing methods, soil states and dynamic parameters (speeds, angular velocity) settings. The test results show that the peristaltic mode is able to continue climbing after a direct climb failure, and the MCD per period is influenced by angular velocity. The power and current data can effectively reflect the difficulty of the rover climbing. Under the same dynamic parameters, the greater the slip rate of the rover, the larger the output power and current. In addition, the speed should be minimized to prolong the climbing distance, no matter it is direct or peristaltic climbing.

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来源期刊
Journal of Terramechanics
Journal of Terramechanics 工程技术-工程:环境
CiteScore
5.90
自引率
8.30%
发文量
33
审稿时长
15.3 weeks
期刊介绍: The Journal of Terramechanics is primarily devoted to scientific articles concerned with research, design, and equipment utilization in the field of terramechanics. The Journal of Terramechanics is the leading international journal serving the multidisciplinary global off-road vehicle and soil working machinery industries, and related user community, governmental agencies and universities. The Journal of Terramechanics provides a forum for those involved in research, development, design, innovation, testing, application and utilization of off-road vehicles and soil working machinery, and their sub-systems and components. The Journal presents a cross-section of technical papers, reviews, comments and discussions, and serves as a medium for recording recent progress in the field.
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