Design Of Lunar Rover Semi-step Walking Wheel Modeled On Impeller

Today earth environment and resource problems are becoming more and more serious, which causes that the exploration and development of other galaxy resources are urgent. Moon, as the nearest planet to Earth, is the first target of human mordern space esploration.Lunar Exploration has set off the international study boom, particularly in recent years of the project " goddess in the moon" in China. As the critical structure of lunar rover which takes the exploration task for human before landing on the moon,the development and design of Lunar rover have become a research and development hotspot in reasearch institutions.The special walking evnironment on the surface of the moon makes higg requirements to the performance of lunar rover.The landing site of lunar rover is generally chosen to be the area of lunar mare where the soil is relatively thick with soft surface and sporadic meteorites obstacles. In order to ensure the effective walking of lunar rover in this eviornment and considering defects and shortconming of previous design, one Semi-step Walking Wheel modeled on impeller with new structure is designed. This Semi-step Walking Wheel, based on vehicl ground mechanics principle, combined the structures and performance advantages of traditional continuous rim wheel and walking wheel, adopted innovatively designs of eight-shaped in reverse of double-row vanes and the discontinuous circle cross section of its rim, can maximumly overcome polygons effect of the lunar rover in the face of solid road and exert the efficiency of continuous rim wheel with superiot steering perfprmance; in case of the soft soil,can reduce the depth of subsidence and resistance of earth-moving with excellent passage.Considering the special structure of Semi-step Walking Wheel modeled on impeller, Based on Passive earth pressure of soil mechanics put forward by C.A.Coulomb, the front force formula of the vane of Semi-step Walking Wheel modeled on Impeller is reduced and the wheel traction force when a set of vanes insert the earth is derived. Some Kinematics Simulations are conducted for installing Lunar rover model with this walking wheel with ADAMS software which shows this walking wheel is able to travel smoothly on straight road,climb over bump obstacles with some high as the same time the ability of the lunar rover one-side surmounting obstacle is better than the ability of two-sides and this walking wheel inherits high ride comfort of traditional wheel and excellent cross obstacle ability of walking wheel.