主办：陕西省汽车工程学会
ISSN 1671-7988  CN 61-1394/TH
创刊：1976年
汽车实用技术

汽车实用技术 ›› 2022, Vol. 47 ›› Issue (20): 44-48.DOI: 10.16638/j.cnki.1671-7988.2022.020.010

• 设计研究 • 上一篇    

刚性轮在细砂土中下沉量的仿真分析

刘天宇，张志峰*，王 营，任培丹，吴 洁   

  1. 长安大学 道路施工技术与装备教育部重点实验室
  • 出版日期:2022-10-30 发布日期:2022-10-30
  • 通讯作者: 刘天宇
  • 作者简介:刘天宇（1997－），男，硕士研究生，研究方向为智能化工程机械，E-mail:626848296@qq.com。 通讯作者：张志峰（1979－），男，博士，副教授，研究方向为工程机械动态性能与仿真分析、智能化工程机械，E-mail: zhifeng@chd.edu.cn。
  • 基金资助:
    国家自然科学基金（52105085）。

Simulation of the Sinking Volume of a Rigid Wheel in Fine Sandy Soil

LIU Tianyu, ZHANG Zhifeng* , WANG Ying, REN Peidan, WU Jie   

  1. Key Laboratory of Highway Construction Technology and Equipment of Ministry of Education
  • Online:2022-10-30 Published:2022-10-30
  • Contact: LIU Tianyu

PDF

摘要： 野外无人探测车多用于沙漠或月球表面，实现探测或搜救等功能。为保证探测车牵引 性能，提高探测车工作效率，对车轮表面特征进行优化。基于传统车辆地面力学理论建立了 刚性轮-细砂土有限元模型，并分析三种轮面特征对刚性轮静态沉陷、动态沉陷以及牵引性能 的影响规律。仿真结果表明，模型能够较好地模拟刚性轮-细砂土的相互作用特性；相对于矩 形履刺，梯形履刺具有更好的抗沉陷性能；当梯形履刺数目和高度不变时，顶边长度与抗沉 陷性能成正相关，而长度过长或者过短，刚性轮牵引杆拉力周期性波动幅度均增大，选择合 适的顶边长度可以具有良好的沉陷特性和牵引性能。

关键词: 刚性轮；细砂土；履刺；沉陷特性；牵引性能；有限元模型；仿真分析

Abstract: Field unmanned exploration vehicles are mostly used on the desert or lunar surface to realize the functions of exploration or search and rescue. In order to ensure the traction performance of the rover and improve the working efficiency of the rover, the wheel surface characteristics are optimized. Based on the traditional vehicle ground mechanics theory, the finite element model of a rigid wheel-fine sandy soil is established, and the effects of three wheel surface characteristics on the static sinkage, dynamic sinkage and traction performance of a rigid wheel are analyzed. The simulation results show that the model can better simulate the interaction characteristics of a rigid wheel-fine sandy soil. Compared with rectangular spikes, trapezoidal spikes have better anti-sinking performance. When the number and height of trapezoidal spikes remain unchanged, the length of the top edge is positively correlated with the anti-sinking performance, and if the length is too long or too short, the periodic fluctuation amplitude of the tension of the rigid wheel drawbar increases. Selecting an appropriate top edge length can have good sinking characteristics and traction performance.

Key words: Rigid wheel; Fine sandy soil; Spikes; Sinking characteristics; Traction performance; Finite element model; Simulation analysis