Rigid-flexible Combined Simulation Research On The Interaction Relationship Between Wheel And Soil Of The Lunar Rover

In this paper, a finite element model of the characteristics of lunar soil parameters simulated lunar soilwith the ABAQUS software was created based the homemade-simulated lunar soil and lunar-wheel soil bintest system of the laboratory And through the simulation test of the lunar lander static interaction, thesimulation plate test of simulated lunar soil, and the soil bin plate test verified the validity and reliability of themodel. The simulation results showed that, the deformation and data gradient trend of stress, strain anddisplacement were in line with the laws of physical change and consistent with the predictions of the actualmodel when the simulated lunar and the lunar lander had a interaction; at the same time, the load-displacement curve of platen simulation test had a basically same results with the soil bin test, which all provethe model is valid and reliable.The ABAQUS INP file of finite element simulation of lunar soil was written in the format of the ADAMSmodel data, and verified the correctness of the model by the static simulation of the interaction of wheels andthe simulation lunar. The simulation results showed that, in the vertical direction, the maximum subsidencedisplacement of the simulation test was26.69millimeter, while the result of real soil bin test was about28millimeter, the error is4.75%, considering the operation and error and other factors of the actual experiment,the results can be approximately considered equivalent. So it proved the ABAQUS FOR ADAMS/INP file ofthe compiled simulated lunar soil was correctness and validity. Finally, using the interface program of theABAQUS FOR ADAMS generated the MNF modal neutral file which could be ADAMS direct read.Based on the study in above, the model of a soil bin test system and14rigid wheels in CAITIA softwarewas created and imported into the ADAMS software, and combined with the flexible simulated lunar soil tocreate a rigid-flexible wheel-soil simulation test system which was the interaction of the rigid wheel andflexible simulation lunar soil. Tested the rut deformation, traction torque, the traction and the verticalsubsidence displacement when the wheel passed through.The simulation results showed that, the simulationresults of the rigid-flexible wheel-soil simulation test system were basically the same trends with real soil bintest results; when the slip rate changed larger, the error fluctuations also slightly larger, but generally verified test method that using rigid-flexible wheel-soil simulation test system to simulation the characteristics ofsimulated driving wheel was feasible, and the simulation results were reliable within a certain range. Followedby a driving wheel through test, and the results were compared with soil bin test, it showed that, the rigidwheel traction torque increased with the slip rate and the trend was consistent with the soil bin test, but theincrease in value was smaller than soil bin test. That because the flexible simulated lunar soil was grid formrather than discrete particles, so arised the different numeric. Simultaneously, tested the displacementsubsidence related to the driving wheel when load changes, found that increasing with load, the subsidencedisplacement become larger; and the subsidence displacement curve and numeric was the same with the actualpredictions, something else the thorns wheel was larger than smooth wheel. Finally, tested14rigid wheeltraction, get the8th wheel had the best traction through capacity.On the basis of rigid-flexible simulation testing study of the soil bin of a single wheel, thethree-dimensional model of the six rocker lunar rover were created, and did some simulation tests with thefinite element model of the newly created flexible simulated lunar soil in ADAMS, including the tractiontorque and subsidence displacement of the driving wheel when the lunar rover driving on the lunar surfaceunder different gravity environment; analyzed the horizontal traction force of the lunar rover in differentconditions.The above simulation and experimental studies showed that, the rigid-flexible wheel-soil s imulation testsystem could provide some reference and guidance on the research of the lunar rover running gear, the designof the prototype,and the analysis of the lunar rover driving in the real lunar surface and so on.