Research on Lunar Rover Wheel-soil Interaction Model

Based on Bekker's and Wong's wheel-terrain interaction model,Wong's model is more adapt to lunar rover with rigid wheel comparing with experiment datas.By theoretical analyses the effect of the squeezed out soil by the wheel thrust,the mechanism of the wheel thrust squeezed out soil under ideal conditions was proposed,and the mathematical model was founded.The result of simulating indicated that the model can revise the inaccurate of Wong's model in predicting slipping sinkage.By observing the trend of the curves of sink ratio both in experiment and simulation,the supposition model of alterable parameters of sink ratio was proposed.This model can effectively reduce the windage of analysis under big slip ratio.Based on the revise of hereinbefore,the wheel-terrain model based on concentrative parameters method can carry out dynamics analysis of lunar rover with the rigid wheel with thrust interaction with lunar soil.