Modeling Generalization and Property Analysis of Flexible-Wheel Suspension Concept for Planetary Surface Vehicles
نویسندگان
چکیده
Planetary surface vehicles (PSVs) play a critical role in space explorations. Flexible-wheel (FW) suspension concept has been regarded to be one of the novel technologies for future PSVs, where a few experimental studies have demonstrated its potential benefits in improving tractive performance of PSVs. This study develops generalized models for fundamental stiffness and damping properties and power consumption characteristics of the FW suspension with and without considering practical wheel-hub dimensions. Compliance rolling resistance (CRR) coefficient is further defined and derived for the FW suspension. Based on the generalized models and two dimensionless property measures, suspension properties are analyzed for a few selected FW suspension configurations. The sensitivity analysis is further performed to investigate the effects of the design parameters and operating conditions on the CRR and power consumption characteristic of the FW suspension. The modeling generalization permits analyses of fundamental properties and power consumption characteristics of different FW suspension systems in a uniform and very convenient manner, which would also serve as a theoretical foundation for the design of FW suspensions for future PSVs. Nomenclature: Parameter Description CRR Compliance rolling resistance of FW suspension C n Damping coefficient of unit #n D n Displacement of unit #n f Vertical-mode natural frequency of a PSV with FW suspension k L , c L Effective rotational stiffness and damping of FW suspension in a magnitude of L, respectively k Ln , c Ln Effective rotational stiffness and damping of unit #n in a magnitude of L, respectively k V , c V Effective vertical stiffness and damping of FW suspension, respectively k Vn , c Vn Effective vertical stiffness and damping of unit #n, respectively k X , c X Effective longitudinal stiffness and damping of FW suspension, respectively k Xn , c Xn Effective longitudinal stiffness and damping of unit #n, respectively k α , c α Effective translational stiffness and damping of FW suspension in an angle of α, respectively k αn , c αn Effective translational stiffness and damping of unit #n in an angle of α, respectively K n Stiffness of unit #n L 0 Static vertical deflection P n Power consumption of unit #n P S Power consumption of FW suspension R Radius of the FW suspension RPF Rotational property factor of FW suspension TPF Translational property factor of FW suspension V Rover forward speed V n Velocity of unit #n Vertical-mode damping ratio of a rover …
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