设计和开发基于干扰的软地形刚度可调车轮

IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL
Tachadol Suthisomboon, Stephane Bonardi, Genya Ishigami
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引用次数: 0

摘要

穿越松软地形对行星轮式漫游车来说是一项重大挑战,各种研究已经证明了通过改变车轮结构或调整车轮刚度来增强漫游车机动性的方法,从而改变车轮与地形的接触面积。本文提出了一种利用干扰机制来调节车轮刚度的新思路。所开发的车轮由核心主体、车轮外圈、内挠和拉索张紧机构组成。干扰机构是通过调整插入轮毂外缘之间的拉索张力来实现的。车轮刚度测量试验证实,低刚度车轮的刚度可降低到高刚度配置的 75%。此外,还根据滑移率和电流消耗评估了车轮在松软地形上的可穿越性。结果表明,在各种条件下,低刚度配置的车轮都优于高刚度车轮。这些研究结果与之前关于柔性车轮的研究结果一致,凸显了基于干扰的刚度可调车轮在各种有效载荷条件下穿越崎岖地形的潜在优势。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Design and development of jamming-based stiffness-adjustable wheel on soft terrain

Traversing soft terrain poses a major challenge for planetary wheeled rovers, and various studies have demonstrated ways to enhance rover mobility by transforming the wheel structure or adjusting the wheel’s stiffness, which results in a change in wheel contact area on the terrain. This paper presents a novel idea using the jamming mechanism for modulating the wheel’s stiffness. The developed wheel consists of the core body, wheel outer rim, inner flexure, and cable tension mechanism. The jamming mechanism is realized by adjusting the cable tension inserted between the outer rim of the wheel. The wheel stiffness measuement test confirms that the wheel with low stiffness can reduce its stiffness for 75% of the high stiffness configuration. The wheel’s traversability on soft terrain are also evaluated based on slip ratio and current consumption. The results demonstrate that the lower-stiffness configuration outperforms the higher-stiffness wheel under various conditions. These findings, being consistent with previous works on flexible wheels, highlight the potential benefits of the jamming-based stiffness-adjustable wheel for rough terrain traverse with various payload conditions.

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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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