The Dynamic Simulation Research On Lunar Vehicle Wheel-soil Contact Mechanics Based On The Natural Terrain

Since China launched the lunar exploration project, Godness in The Moon project, the lunar roving vehicle has become a new hotspot in scientific fields. The lunar rover is a robot that is able to drive and explore on the complex moon surface with various meteoric fragments and volcano craters. Once the robot fails to cross the barrier or gets stuck in the lunar soil, the human who operates on the earth will be incapable to help it off the hook, and then enormous losses will follow. Therefore, the passing performance of the lunar rover is of great significance, and this is what my paper mainly studies.The passing performance is a synthetic effect between vehicle dynamics and wheel-soil contact mechanics. It primarily solves two problems:one is the lunar roving vehicle's passing ability on surfaces like plane, slope and obstacles, etc, and the other is the management of the energy efficiency while the vehicle is passing on. Among these, the wheel-soil contact mechanics is the theory foundation to research the passing performance.Firstly, theoretically deduce the wheel's stress condition in three-dimensional terrain, and obtain an accurate wheel-soil contact mechanics model. The wheel-soil contact mechanics model in my paper, based on the theory raised by Bekker, extends to the3-D terrain. By processing parameters of the natural terrain, combining virtual prototype technology to make a wheel-model, and further put forward a wheel-soil contact mechanics model that is fit to natural terrain.Next, calculate the vertical force, the traction force, the compaction resistance and the resistance distance with the secondary development of ADAMS, and make projection of these forces and torques under the ground coordinate system. Meanwhile, control the wheel through subroutine. Then connect this with ADAMS, acquire the wheel's dynamic simulation on natural terrain, come up with a method of single wheel's dynamic simulation on natural terrain, and output the forces and torques that the wheel is subjected to.At last, select two kinds of terrain parameters, make theoretical analysis of them, and compare the consequence with the simulation result, so as to vertify the correctness of the dynamics emulating method.