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首页> 外文会议>14th International ISTVS conference >Analysis, Design and Test of Wheels for a 4 kgclassMobile Device for the Surface of Mars
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Analysis, Design and Test of Wheels for a 4 kgclassMobile Device for the Surface of Mars

机译：4 kg级火星表面移动设备的车轮分析，设计和测试

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This paper reports on the on-going development of a small surface vehicle to be used during unmanned missions onrnthe surface of the planet Mars. The vehicle, referred to as MIDD (Mobile Instrument Deployment Device), will be used to moverngeological sensors and sampling systems within a radius of up to 20 m around a Mars lander and is required to move at speeds ofrnno more than approximately 1 cm/s, thus being rather a ”mobile platform” than a planetary rover. Total mass of MIDD is around 4 kg.rnFunding for the development is from the European Space Agency ESA.rnFrom previous landing missions, rough estimates of bulk density and of the shear strength parameters cohesion and internal frictionrnangle of the soil covering the Martian surface are available. However, the engineering parameters of the Martian soil as required forrna proper analysis of the locomotion performance, have never been directly measured on the planet. Therefore, at the Institute ofrnSpace Simulation of the German Aerospace Center (DLR), a mechanical Mars soil simulant has been produced based on thernavailable data, and the relevant soil parameters measured in the laboratory at different compaction states and with near-zero waterrncontent as corresponding to conditions on Mars. Subsequent load-sinkage experiments with representatively-sized plates andrnsimulated wheels allowed to modify established tractive theories to account for the expected small weight of MIDD on Mars (somern16 N) and for the anticipated small wheel diameters of 10…20 cm. Analysis then allowed to confidently select wheels for MIDD, withrna 4-wheeled architecture using rigid suspension, skid steering (to save mass for a steering mechanism) and with variable groundrnclearance to enhance climbing performance over small rocks in the terrain. Ground clearance control is via articulated leversrnsupporting the two front wheels, allowing to rotate them with respect to the vehicle cab.rnTo optimize the wheel design, experiments were performed in a dedicated soil channel at DLR, in order to characterize sinkage,rnrolling resistance, as well as the slip-drawbar pull characteristics at the representative wheel load of 4.3 N. As a parallel activity, therneffect of the reduced Martian gravity on the actual soil was investigated – as yet – theoretically, suggesting a limited reduction in soilrnstrength (leading to a moderate increase in sinkage) in presence of the Martian gravity of 1/3 g, as compared to the soil being underrnEarth gravity conditions; the effect is not drastic, due to the availability of soil cohesion. Corresponding predictions of the MIDDrnvehicle performance on Martian soil, taking into account the wheel soil channel results and the scaling for the effect of gravity on soilrnstrength, suggest a soil slope climbing capability of some 15° which is adequate to cope with Martian surface conditions in thernanticipated mission scenario.
机译：本文报道了正在火星表面进行无人飞行的小型水面飞行器的发展情况。该车辆被称为MIDD（移动仪器部署设备），将用于在距火星着陆器20m半径范围内移动地质传感器和采样系统，并要求其移动速度不超过约1 cm / s ，而不是行星漫游车，因此是“移动平台”。 MIDD的总质量约为4千克。rn该开发项目的资金来自欧洲航天局（ESA）。rn从以前的登陆任务中，可以获得火星表面的土壤密度，剪切强度参数的内聚力和内摩擦角的粗略估计。 。但是，从未对行星进行直接测量，无法对火星土壤的工程参数进行适当的运动性能分析。因此，在德国航空航天中心（DLR）的空间模拟研究所，基于可得到的数据，并在实验室中以不同的压实状态测量了相关的土壤参数，并以接近零的含水量制作了机械的火星土壤模拟物。到火星上的条件。随后的具有代表性尺寸的板和模拟轮的载荷沉实验允许修改已建立的牵引理论，以解决火星上MIDD预期的小重量（约16 N）和预期的10…20 cm的小轮直径。然后，分析人员可以放心地选择MIDD车轮，采用刚性悬架的4轮架构，防滑转向（以节省转向机构的重量）和可变的离地间隙来增强地形上小岩石的爬坡性能。离地间隙控制是通过支撑两个前轮的铰接杆来实现的，从而允许它们相对于车辆驾驶室旋转。为了优化车轮设计，在DLR的专用土壤通道中进行了实验，以表征下沉，滚动阻力，以及在代表车轮载荷为4.3 N时的滑杆牵引特性。作为一项平行活动，从理论上研究了火星重力降低对实际土壤的影响-到目前为止-从理论上讲，土壤强度的降低有限（导致与在地下重力环境下的土壤相比，在1/3 g的火星重力下存在适度的下沉量增加;由于可获得土壤内聚力，因此效果并不明显。考虑到轮土通道结果和重力对土壤强度的影响，对火星土壤中MIDD车辆性能的相应预测表明，土坡的爬坡能力约为15°，足以应付预期的火星表面条件任务方案。

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