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《Journal of Vibration and Shock》 2011-07
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Real-time interactive dynamic simulation for a lunar rover based on terramechanics

WANG Zhe1,GAO Feng1,CHEN Zhi-wei2,SUN Peng1(1.School of Transportation Science and Engineering,Beihang University,Beijing 100191,China;2.Beijing Branch of GET Group,Beijing 100190,China)  
Traction capability experiments of a driving wheel were performed by using a wheel-terrain interaction test-bed.From the test data,an improved bulldozing resistance formula based on slip ratio of wheel was deduced.Meanwhile,according to the formula and terramechanics theories of soft soil,a lunar rover dynamic simulation system was built on Visual C++9.0 platform by using Vortex API.By comparing simulation results and experiments results of the single driving wheel,it was shown that the formula and the dynamic simulation are reliable;the model of the whole lunar rover was also set up and the real-time interactive dynamic simulation is realized through keyboard and mouse.
【Fund】: 高等学校博士学科点专项科研基金资助(20070006012);; 中国博士后科学基金(20090450277);; 国家高技术研究发展计划(863计划)(2007AA11Z244)资助课题
【CateGory Index】: V476.3
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