Design and passability study of soil-plowing wheel facing soft terrain

IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL
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Abstract

On soft terrain, the rover wheels are easy to slip, sink, or even fail to move. This paper designs a soil-plowing wheel which is two-sided closed and without tread. The discrete element simulation shows that the wheel could grasp soil through both sides and plowing soil and that the ability to gain drawbar pull is not significantly reduced. The wheel is fabricated and tested to measure its sinkage, slip rate and drawbar pull. The wheel has high sinking, high slip and high drawbar pull. And the wheel is tested to verify the passability on five terrains of flat ground, climbing, out of sinkage, obstacle crossing and hard ground. The wheel exhibits good passability in all terrains. The soil-plowing wheel is tested verify the passability on three terrains of obstacle crossing, out of sinkage and climbing and using a three-rockers six-wheels rover. The wheel can pass through all terrain. More importantly, the wheel has an excellent ability to get out of sinkage. And it takes only 25.43 s for all six wheels to get out of sinkage. It is believed that the structure and test results of this wheel are valuable for the subsequent development of unmanned rover wheel.

面向软地形的土壤耕作轮的设计和通过性研究
在松软的地形上,漫游车轮容易打滑、下沉,甚至无法移动。本文设计了一种两面封闭、无胎面的犁土轮。离散元仿真表明,该车轮可以通过两侧抓取土壤并耕作土壤,而且获得牵引力的能力并没有明显下降。对车轮进行了制造和测试,以测量其下沉量、滑移率和牵引力。车轮具有高下沉率、高滑移率和高牵引力。对车轮进行了测试,以验证其在平地、爬坡、下沉、障碍穿越和硬地五种地形上的通过性。车轮在所有地形都表现出良好的通过性。使用三摇臂六轮漫游车对土壤耕作车轮进行了测试,以验证其在跨越障碍、下沉和爬坡三种地形上的通过性。车轮可以通过所有地形。更重要的是,车轮具有出色的脱困能力。六个车轮摆脱下沉仅需 25.43 秒。相信该车轮的结构和测试结果对无人车车轮的后续开发具有重要价值。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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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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