中国空间科学技术

中国空间科学技术

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地外探测移动机器人通过性与土壤力学特性关系试验

杨伟奇1，邢琰1,2,*，张洪嘉1   

  1. 1.北京控制工程研究所，北京100094
    2.空间智能控制技术全国重点实验室，北京100094
  • 收稿日期:2025-07-08 修回日期:2025-09-11 录用日期:2025-09-28 发布日期:2026-04-09 出版日期:2026-04-09

Relationship between trafficability of extraterrestrial exploration mobile robots and soil mechanical properties

YANG Weiqi1，XING Yan1,2,*，ZHANG Hongjia1   

  1. 1.Beijing Institute of Control Engineering, Beijing 100094, China
    2.National Key Laboratory of Space Intelligent Control Technology, Beijing 100094, China
  • Received:2025-07-08 Revision received:2025-09-11 Accepted:2025-09-28 Online:2026-04-09 Published:2026-04-09

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摘要： 地外探测移动机器人巡视探测是拓展探测广度和深度的有效方式。针对地外天体松软地表易导致移动机器人通过性风险问题，揭示土壤力学特性与可通过性的内在关联。对地外探测移动机器人通过性与土壤力学特性关系进行了试验研究，并完成了贝氏仪原位测量试验与地面样机移动试验，定性揭示了土壤力学特性参数（内聚模量、摩擦模量、压缩指数、剪切模量）与沉陷量、滑动率的关系，并对比了不同颗粒模拟土壤（平坦地形粗沙和平坦地形细沙）的可通过性。试验结果表明，上述土壤力学特性参数是影响土壤可通过性的关键参数，土壤力学特性参数与土壤承压剪切性能及可通过性正相关，验证了基于沉陷量与滑动率的土壤可通过性间接评估方法对非几何障碍风险识别的有效性，初步揭示了土壤颗粒形态及成份与土壤可通过性之间的内在关联。

关键词: 移动机器人, 通过性, 土壤力学特性, 沉陷量, 滑动率

Abstract: Planetary rover exploration is an effective approach to expand the scope and depth of extraterrestrial detection. Targeting mobility failure risks induced by soft terrains on extraterrestrial bodies, this work elucidates the inherent relationship between soil mechanical properties and robotic trafficability. Experimental studies are conducted on the relationship between rover trafficability and soil mechanical properties, including in-situ Bevameter measurements and prototype mobility tests. Qualitative relationships are revealed between soil mechanical parameters (cohesive modulus, frictional modulus, compression index, shear modulus) and sinkage/slip ratio. Trafficability comparisons are made for granular simulants (coarse sand and fine sand on flat terrain). The results demonstrate that these mechanical parameters are critical factors influencing soil trafficability, and exhibit positive correlations with both bearing-shear resistance and trafficability. The study validates the effectiveness of sinkage/slip-ratio-based indirect assessment for identifying non-geometric hazards and preliminarily reveals intrinsic correlations between soil particle morphology/composition and trafficability.

Key words: mobile robot, trafficability, soil mechanical properties, sinkage, slip ratio