离散预应力弹簧辐条轮:面向极端环境的功能解耦型可维护行走系统设计 Discrete Prestressed Spring Spoke Wheel: Design of a Functionally Decoupled Maintainable Locomotion System for Extreme Environments

作者:郭洋洋Author: Guo YangyangORCID:0009-0006-6669-1790Contact email:[email protected] Type: PreprintSubmission Date: November 5, 2026Version: v1.0 Bilingual EditionPreprint DOI: 10.5281/zenodo.23975397Open Access License: CC BY 4.0 摘要 Abstract 传统充气橡胶轮胎凭借优异的缓冲与抓地性能成为民用道路场景的主流行走方案,但其单点破损即整体失效的故障模式、橡胶材料对极端温域与真空环境的敏感性,以及对预制工业备件的强依赖,使其难以适配无人区野外科考、地外行星长期驻留等补给受限、环境恶劣的场景。现有免爆替代方案中,实心橡胶胎存在滚动阻力高、缓冲性能不足的短板;一体式金属弹性轮虽具备环境耐受性,但局部损伤易持续扩展且无法现场局部维修,全生命周期运维成本高昂。 Traditional pneumatic rubber tires have become the mainstream locomotion solution for civilian road scenarios due to their excellent cushioning and grip performance. However, their failure mode of overall failure upon single-point damage, the sensitivity of rubber materials to extreme temperature ranges and vacuum environments, and their strong dependence on prefabricated industrial spare parts make them difficult to adapt to scenarios with limited supply and harsh environments, such as field scientific expeditions in uninhabited areas and long-term extraterrestrial planetary habitation. Among existing blowout-proof alternatives, solid rubber tires have shortcomings of high rolling resistance and insufficient cushioning performance; while integrated metal elastic wheels have environmental tolerance, local damage tends to propagate continuously and cannot be repaired locally on site, resulting in high full-life cycle operation and maintenance costs. 本研究提出一种离散预应力弹簧辐条轮架构,核心思路为功能解耦与离散冗余:将传统轮胎一体化承担的结构支撑、弹性缓冲、接地抓地三项核心功能拆分,由带圆弧承压转接构件的铰接式预应力弹簧辐条骨架承担主级大行程缓冲与结构刚度,由可开放替换的接地表皮承担抓地防滑与表层微缓冲。该架构从根源消除爆胎风险,单根弹簧损坏仅造成性能降级而非整体失效;圆弧承压转接座承担弹簧多角度偏转带来的侧向载荷,保护铰接销轴并降低弹簧脱落风险;最小维修单元可降至单根标准化弹簧;接地表皮支持工业喷涂橡胶、天然生物材料等多类耗材,可实现现场原位修复。对比分析表明,该方案在极端环境容错性、铰接副耐久性、现场可维护性、备件轻量化四个维度显著优于现有方案,适用于补给受限的极端野外与地外探测场景。 This study proposes a discrete prestressed spring spoke wheel architecture, with the core idea of functional decoupling and discrete redundancy: the three core functions of traditional integrated tires—structural support, elastic cushioning, and ground grip—are split. The hinged prestressed spring spoke skeleton with arc-shaped load-bearing adapters bears primary large-stroke cushioning and structural stiffness, while the openly replaceable ground contact skin provides grip, anti-slip performance and surface micro-cushioning. This architecture fundamentally eliminates the risk of tire blowouts; damage to a single spring only causes performance degradation rather than overall failure. The arc-shaped load-bearing adapter bears lateral loads caused by multi-angle deflection of the spring, protecting the hinge pin and reducing the risk of spring fall-off. The minimum maintenance unit can be reduced to a single standardized spring; the ground contact skin supports multiple types of consumables such as industrial spray rubber and natural biological materials, enabling in-situ on-site repair. Comparative analysis shows that this scheme is significantly superior to existing schemes in four dimensions: extreme environment fault tolerance, hinge pair durability, on-site maintainability, and lightweight spare parts, and is suitable for extreme field and extraterrestrial exploration scenarios with limited supply. 关键词:离散弹性轮;预应力弹簧辐条;圆弧承压转接构件;功能解耦;极端环境行走系统;免爆轮胎;地外探测载具 Keywords: discrete elastic wheel; prestressed spring spoke; arc-shaped load-bearing adapter; functional decoupling; extreme environment locomotion system; blowout-proof tire; extraterrestrial exploration vehicle