Modeling And Simulation Of Six-wheel Suspended Rovers Based On ADAMS

In the task of Mars detection in the future,Mars rover is not only an important carrier and direct tool to perform detective task on the surface of Mars carrying on various instruments,but also an important component of Mars detection engineering.The development of Rover involved many disciplines such as kinematic of machinery,artificial intelligence and automatic control.As a complex system engineering,using virtual simulation technology can reduce the cost on design and development of Rover and shorten the circle of development.In this paper,the performance simulation analysis of rovers under working condition is carried out using wheel-terramechanics in Adams.The specific details are shown as follow:Firstly,the six-wheel suspension rover is modeled in Adams.This paper introduced the reference coordinate system for the modeling of the rover.The structure composition of the six-wheel suspension rover and its advantages in adapting to the terrain are expounded in detail.The rigid-flexible coupling model of the rover is established,the parameter setting of the flexible parts and connections are explained.Secondly,based on Bekker theory,the coupling mechanical model of wheel soil is established by Matlab and Adams.Through the study of soil shear and pressure characteristics,a detailed ground mechanical model of soil coupling was established,including soil coupling forward mechanical model,soil coupling lateral mechanical model and soil coupling steering mechanical model.The coupling mechanical model of wheel soil is built by the interface of Adams and Matlab.Thirdly,the simulated terrain of Mars is modeled.The geological environment and topography characteristic of Mars surface is introduced,the mathematical model of typical terrain is completed,the 3D modeling of typical terrain is realized with the help of Matlab and 3DS Max,The visualization of 3D terrain in Adams is realized by the interface technology of Adams.The rover model was organically combined with the 3D terrain model with Adams/tire module,the stress state of wheels is analysed under the random terrain environment,the stress diagram of curves of the wheel are obtained as a result.Finally,the simulation analysis of rover performance under typical working conditions is completed.Considering the running status of the practice of rovers,the rover mobile performance evaluation index is put forward,the simulation of the typical terrain conditions is designed,including the condition of 10 meters travelling on ground,the condition of 20 degrees slope,the condition of obstacles terrain simulation,and conditions of steering ability test.The stress diagram of curves of the wheel under typical working conditions was obtained and the performance analysis of the rover was completed.