标题： 提高速度对行星漫游车牵引性能的影响 显示英文标题

标题： The effects of increasing velocity on the tractive performance of planetary rovers

摘要： 一种新兴的范式正在未来行星探索任务的概念化过程中被采纳。 雄心勃勃的目标和日益苛刻的任务约束强调了更快地表面移动的重要性。 接近或超过1米/秒的驱动速度很少被使用，其对性能的影响至今仍不清楚。 本研究展示了实验证据和关于速度增加对行星探测车牵引性能影响的初步观察结果。 单轮驾驶测试是在两种不同的金属锯齿状轮子（一个刚性，一个柔性）上进行的，这些轮子在两种土壤上运行：橄榄石砂和碳酸钙基淤泥土壤。 实验在速度从0.01到1米/秒范围内进行，并覆盖广泛的滑移比（5-90%）。 评估了三个性能指标：牵引系数、车轮沉陷和牵引效率。 结果显示所有调查案例的数据趋势相似。 牵引系数和牵引效率在超过0.2米/秒的速度时显著下降。 与已发表证据所建议的不同，车轮沉陷随着速度的增加而增加。 在低滑移条件下，柔性轮在1米/秒时表现最佳，牵引系数和效率提高了2倍，沉陷减少了18%。 尽管数据趋势相似，但当在不同土壤上行驶时，观察到了不同的车轮-土壤相互作用行为。 总体而言，尽管在较高速度下性能有所下降，但在0.2-0.3米/秒范围内的速度可以使通过速度提高5-10倍，相比当前探测器的行驶能力，仅使牵引系数和效率降低7%。 这里收集的测量数据和提出的分析为行星表面探索新运动子系统的开发初期阶段奠定了基础。 同时... 显示英文摘要

摘要： An emerging paradigm is being embraced in the conceptualization of future planetary exploration missions. Ambitious objectives and increasingly demanding mission constraints stress the importance associated with faster surface mobility. Driving speeds approaching or surpassing 1 m/s have been rarely used and their effect on performance is today unclear. This study presents experimental evidence and preliminary observations on the impact that increasing velocity has on the tractive performance of planetary rovers. Single-wheel driving tests were conducted using two different metallic, grousered wheels-one rigid and one flexible-over two different soils, olivine sand and CaCO3-based silty soil. Experiments were conducted at speeds between 0.01-1 m/s throughout an ample range of slip ratios (5-90%). Three performance metrics were evaluated: drawbar pull coefficient, wheel sinkage, and tractive efficiency. Results showed similar data trends among all the cases investigated. Drawbar pull and tractive efficiency considerably decreased for speeds beyond 0.2 m/s. Wheel sinkage, unlike what published evidence suggested, increased with increasing velocities. The flexible wheel performed the best at 1m/s, exhibiting 2 times higher drawbar pull and efficiency with 18% lower sinkage under low slip conditions. Although similar data trends were obtained, a different wheel-soil interactive behavior was observed when driving over the different soils. Overall, despite the performance reduction experienced at higher velocities, a speed in the range of 0.2-0.3 m/s would enable 5-10 times faster traverses, compared to current rovers driving capability, while only diminishing drawbar pull and efficiency by 7%. The measurements collected and the analysis presented here lay the groundwork for initial stages in the development of new locomotion subsystems for planetary surface exploration. At the same time...