J4 ›› 2009, Vol. 20 ›› Issue (05): 0-532.
Sun Peng1;Gao Feng1;Sun Gang2;Zhao Bin1
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孙鹏1;高峰1;孙刚2;赵斌1
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
摘要:
基于行星探测车行走机构的特点和地面验证试验的要求,研制了行星探测车车轮牵引特性试验台,介绍了试验台的机械结构及测控系统。试验台针对的车轮直径范围为20~40cm,可施加垂直载荷0~300N,可测量挂钩牵引力0~300N,台车最大线速度为43mm/s,车轮最高转速为9.9r/min。试验台装备了六分力传感器、垂直电位计、旋转编码器等传感器,保证了试验参数测量的准确性。试验结果表明,该试验台具有较高的测量精度,可以用于轮土交互作用试验研究。
关键词: 试验台, 行星探测车, 车轮, 牵引特性
CLC Number:
U467.523
TP306
Sun Peng;Gao Feng;Sun Gang;Zhao Bin. Design of Tractive Characteristic Test-bed of Planetary Rover Wheel[J]. J4, 2009, 20(05): 0-532.
孙鹏;高峰;孙刚;赵斌;. 行星探测车车轮牵引特性试验台设计[J]. J4, 2009, 20(05): 0-532.
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