火星车沉陷机理与脱困策略研究

Sinkage Mechanism and Extrication Strategy of Mars Rover

  • 摘要: 以“祝融号”火星车为研究对象,基于车辆地面力学理论分析了火星车发生沉陷的机理,基于滑转率、电流、沉陷深度等给出沉陷判别方法,制定了不同条件下“祝融号”火星车的沉陷判别准则及脱困策略。验证试验结果表明:临界沉陷时滑转率为61.25%、驱动电流为1.90 A,达到沉陷临界值后“祝融号”火星车将无法直接驶离,而“祝融号”火星车主动悬架的蠕动是实现脱困的有效方法。研究成果可为“祝融号”火星车在轨使用策略提供试验数据和参考。

     

    Abstract: Taking ZhuRong Mars rover as the research object, the sinkage mechanism of the Mars rover is analyzed based on the theory of vehicle terrainmechanism, and a sinkage determination method is presented based on the slippage ratio, current, sinkage depth and so on. The sinkage determination criteria in different conditions are formulated and the corresponding extrication strategies are proposed for ZhuRong Mars rover. The verification test results show that the slippage ratio is 61.25% and the driving current is 1.9 A in the case of critical sinkage. The rover can't drive away directly when reaching the critical sinkage value, but ZhuRong Mars rover can effectively extricate itself through peristalsis of its active suspension. The research results can provide test data and reference for the in-orbit usage strategy of ZhuRong Mars rover.

     

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