中文摘要：

月球车在月面行驶时,为保证月球车的通过性能,应尽量避免沉陷。然而传统车辆沉陷量数学模型不适用于动态滑转条件下的月球车,为此对月球车行驶时车轮沉陷量的计算模型进行了研究。基于车辆地面力学理论,从模拟月壤力学参数和滑转率两个方面,在适合于刚性轮静态沉陷计算模型基础上建立了适用于滑转条件下月球车轮的沉陷计算模型。通过轮壤土槽试验,将试验测得的月球车轮沉陷量与模型计算得到的沉陷量进行比较,验证了修正模型的正确性。所研究的模型能够为滑转条件下月球车沉陷量的预测提供理论技术基础。

英文摘要：

In order to ensure its passing ability, a lunar rover should avoid sinkage when it is running on the lunar surface. However, the conventional calculation model of sinkage is not suitable for the lunar rover in the state of dynamic slip. There- fore, a calculation model for the sinkage of wheels is analyzed in this paper. Using the theory of terrain-mechanics, the cal- culation model for singkage under slip is established based on a calculation model for static sinkage from the two aspects of mechanical parameters and slip ratios. The sinkages obtained by the soil-bin test are compared with those calculated by the model and the calculation model is thus verified. The calculation model may provide the theoretical basis for the prediction of lunar rover sinkage.