关键词: 试验台, 行星探测车, 车轮, 牵引特性

Abstract:

According to the characteristics of planetary rover’s travel mechanism and the requirements of validation test on ground, the test-bed for tractive performance of wheel of planetary rover was designed and manufactured.The machine mechanism, measurement and control system were introduced. The test-bed is designed for 20~40cm diameter wheels, vertical loads in the 0~300N range, drawbar pull forces ranging from 0 to 300N, linear velocity up to 43mm/sec, and wheel rotating speed up to 9.9r/min. Several sensors were mounted such as six-axis force/torque sensor, potentiometer, encoder and so on, to ensure the veracity of desirable parameters. The experimental results show that the test-bed can get fairly accurate result and can be applied to the experiments of wheel-soil interaction.

Key words: test-bed；planetary rover；wheel；tractive characteristics