深空探测车可变直径车轮牵引通过性研究

he paper analyzes the interaction between a kind of variable diameter wheel for planetary rover and lunar soil based on the theory of terramechanics, and it appropriately simplifies Extending and sinkage of wheel. The traction trafficability for the wheel of planetary rover was analyzed. The analytical results show that extended wheel decreases bulldozing resistance, and that the drawbar pull of the wheel and driving efficiency are increased dramatically compared with that the wheel in the state of pinch. And a range of slip ratio is obtained when the driving efficiency to arrive at maximum.