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美国火星探测车取得了巨大的成就,拓展了人类对于火星的认识水平,同时在世界上掀起了利用轮式移动机器人(漫游车)进行星球探测的热潮。未来的星球探测任务要求星球车能够自主运行于更加富有挑战性的松软崎岖地形环境当中。轮地相互作用地面力学可广泛应用于星球车设计研发和遥控探测的各个方面,是星球车性能提高的一个瓶颈问题,因而成为一个新的研究热点。常用的传统车辆模型主要面向车辆设计过程且精度不高,针对星球探测车进行地面力学的试验、理论和应用方法研究是极其必要的。
The great achievements made by the Mars rover in the United States have broadened the level of human understanding of Mars and at the same time triggered a wave of planetary exploration using wheeled mobile robots (rovers) in the world. Future missions for planetary exploration require that the rover can run autonomously in the more challenging, rugged terrain. Wheel-ground interaction Ground mechanics can be widely used in all aspects of planetary car design, R & D and remote sensing, which is a bottleneck problem of the performance improvement of planetary car. Therefore, it becomes a new research hotspot. Commonly used traditional vehicle model is mainly for the vehicle design process and the accuracy is not high, for the planetary rover ground mechanics test, theory and application methods is extremely necessary.