Research On Technologies Of Wheel-soil Interaction Testing Based On Forced Slip Theory

When detecting various planets, planetary exploration rovers are indispensable tools, as they can carry a variety of planet detection equipment to reduce the weight of human load, manned rover can even expand the discovery scope. The most important requirement for a planetary exploration rover is its workability in special circumstances. Thus,during the designing process, we should know the rover's motion performance and the obstacle performance of wheels in order to enhance the rover's capability of adapting to various terrain. Of all these designs, the interactive mechanic properties between wheels and the ground must be taken into account and the relative testing are just an indispensable part in researching for this property. Therefore, it is necessary to construct a system of wheel-soil interaction performance testing under various planet conditions. For this purpose, the thesis went into further research of wheel-soil interaction performance testing technology which is based on forced slip theory.Firstly, the simulation of rough terrain of which the focal point is the implementation of the 2DOF rotating platform provides the environment of soil. By further researching the 2DOF rotating, the paper found the coupling state of 2DOF rotation and we achieved the goal of decoupling two-dimensional rotating (non-interference in the two rotations) by using decoupling hinge. Secondly, we structurally designed the proposed model. Thirdly, we made kinematic analysis through theoretical deduction and got the relative curve. Finally, we tested and verified the formula of the theoretical deduction by using ADAMS simulation model of the movement.By analyzing all the existing devices of wheel-soil interaction performance testing bed, we found some drawbacks of the existing equipments and thus proposed the forced slip theory (the realization of forced slip by using wheel-soil interaction performance testing bed).At first, we made theoretical deduction of forced slip theory based on wheel-soil mechanics. Second, we explained the mechanical properties of wheel under forced slip condition by using dry sand. Then, we proposed the mechanism of wheel-soil interaction performance testing devices, designed the structure, forecasted the error and analyzed the possible reasons of errors. At last, we proposed error compensation algorithm and improved the accuracy of the wheel loading pressure.Ultimately, the research realized the whole system and made some relative testing and designed the control system and data acquisition system. This study also made test analysis of the movement property of 2DOF rotating platform.