| 基于地面力学的月面巡视探测器动力学实时交互仿真研究 |
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| 引用本文： | 王哲,高峰,陈志伟,孙鹏.基于地面力学的月面巡视探测器动力学实时交互仿真研究[J].振动与冲击,2011,30(7):192. |
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| 作者姓名： | 王哲 高峰 陈志伟 孙鹏 |
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| 作者单位： | 1.北京航空航天大学 交通科学与工程学院汽车工程系，北京 100191；2.GET集团北京分公司，北京 100190 |
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| 基金项目： | 高等学校博士学科点专项科研基金资助，中国博士后科学基金，国家高技术研究发展计划(863计划)(2007AA11Z244)资助课题 |
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| 摘 要： | 通过自主研发的探测器移动性能土槽试验台进行了驱动轮牵引性能测试，结合试验数据推导了基于滑转率的推土阻力修正模型。同时依据该模型及松软土壤下地面力学理论，在Visual C++9.0平台下利用Vortex API构建了月面巡视探测器动力学仿真系统。通过驱动轮--模拟月壤仿真结果与试验结果对比验证了其准确性，并在此基础上对月面巡视探测器整车进行了建模，应用键盘及鼠标操作实现了基于地面力学的实时交互仿真。
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| 关 键 词： | 地面力学 推土阻力 虚拟现实 Vortex |
| 收稿时间： | 2010-4-14 |
| 修稿时间： | 2010-7-19 |
Real-time interactive dynamic simulation for a lunar rover based on terramechanics |
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| WANG Zhe,GAO Feng,CHEN Zhi-wei,SUN Peng.Real-time interactive dynamic simulation for a lunar rover based on terramechanics[J].Journal of Vibration and Shock,2011,30(7):192. |
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| Authors: | WANG Zhe GAO Feng CHEN Zhi-wei SUN Peng |
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| Affiliation: | 1.School of Transportation Science and Engineering, Beihang University, Beijing 100191;2. Beijing Branch of GET Group, Beijing 100190 |
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| Abstract: | 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 dyna... |
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| Keywords: | terramechanics bulldozing resistance virtual reality vortex |
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