TY - GEN
T1 - RESEARCH ON A NEW ANALYSIS METHOD OF TRACTION PERFORMANCE FOR VARIABLE-DIAMETER WHEELS
AU - Zeng, Wen
AU - Jiang, Hui
AU - Xu, Guoyan
AU - Gao, Feng
N1 - Publisher Copyright:
Copyright © 2022 by ASME.
PY - 2022
Y1 - 2022
N2 - Folded variable-diameter wheels used in planetary rovers can save spacecraft volume. Moreover, they can be expanded to improve their mobility on soft soil. However, only a single wheel foot was considered in previous researches on wheel-terrain interaction, which may be inaccurate. Hence, the cycloid motion equations for an unfolded variable-diameter wheel were introduced to obtain the shear displacement of any point on a wheel foot. Then, determining wheel-soil interaction regions was transformed into geometric relationship analysis. Therefore, the simplified model with a single wheel foot was established. Consequently, the traction efficiency achieved the peak when the range of wheel slip rates was 0.15~0.35. The results shown that increased wheel diameter improved wheel mobility. For a greater sinkage, with the superposition of simplified model, the detailed model based on multiple wheel feet was built. This model got closer to real interaction status. The finite element analysis (FEA) results for the rolling wheel on soft soil were consistent with the theoretical hypotheses. Overall, the simplified model is very efficient, however, the detailed model is more accurate, which provides theoretical references for the control of optimizing wheel mobility. Additionally, this new analysis method developed here can also be applied to other expandable wheels.
AB - Folded variable-diameter wheels used in planetary rovers can save spacecraft volume. Moreover, they can be expanded to improve their mobility on soft soil. However, only a single wheel foot was considered in previous researches on wheel-terrain interaction, which may be inaccurate. Hence, the cycloid motion equations for an unfolded variable-diameter wheel were introduced to obtain the shear displacement of any point on a wheel foot. Then, determining wheel-soil interaction regions was transformed into geometric relationship analysis. Therefore, the simplified model with a single wheel foot was established. Consequently, the traction efficiency achieved the peak when the range of wheel slip rates was 0.15~0.35. The results shown that increased wheel diameter improved wheel mobility. For a greater sinkage, with the superposition of simplified model, the detailed model based on multiple wheel feet was built. This model got closer to real interaction status. The finite element analysis (FEA) results for the rolling wheel on soft soil were consistent with the theoretical hypotheses. Overall, the simplified model is very efficient, however, the detailed model is more accurate, which provides theoretical references for the control of optimizing wheel mobility. Additionally, this new analysis method developed here can also be applied to other expandable wheels.
KW - Compliant mechanisms
KW - Finite element model
KW - Mobile robots
KW - Solids mechanics
KW - Vehicles sub-systems and applications
UR - https://www.scopus.com/pages/publications/85148323217
U2 - 10.1115/IMECE2022-94967
DO - 10.1115/IMECE2022-94967
M3 - 会议稿件
AN - SCOPUS:85148323217
T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
BT - Dynamics, Vibration, and Control
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2022 International Mechanical Engineering Congress and Exposition, IMECE 2022
Y2 - 30 October 2022 through 3 November 2022
ER -