新型四轮腿式月球车轮腿结构设计及分析(4)

控制系统

　第5期

尚伟燕,等:新型四轮腿式月球车轮腿结构设计及分析825

悬架结构使月球车月面适应性增强;姿态设定为月球车控制提供了有效参考;通过ADAMS软件对其在复杂月面运动状态进行了仿真分析,求得最大越障高度并验证了该新型结构在月球表面的行驶稳定性.

图8

　车体速度曲线

参考文献

[1]高海波,邓宗全,胡　明,等.行星轮式月球车移动系

统的关键技术[J].,2005,12(41):

1562161.

[2,],(:2[3],,等.关节式履带机器人的爬

图9[J].电子机械工程,2006,2(22):60263.

[4]程广伟,周志立,邓楚南.履带车辆液压机械无级变

,,.

速器试验台测控系统研究[J].武汉理工大学学报:交通科学与工程版,2007,4(31):6562659

[5]BertrandR,RiederR,WinnendaelMV.European

trackedmicro2robotforplanetarysurfaceexplo2ration[J].SpaceTechnology,2001,20(2):55264.[6]胡　明,邓宗全,王少纯,等.月球探测车移动系统的

4　结束语

新型轮腿结构简单,可灵活实现抬升和推进

运动,月球车越障能力得到提高,并且轮腿与车身的封闭三角形结构使其行进过程中稳定性增强;

关键技术分析[J].哈尔滨工业大学学报,2003,

35(7):7952798.

StructureDesigningandAnalysisofNewStyle

FourLegWheeledLunarRover

1121

ShangWeiyan　LiShunming　QiuFaju　XinJianghui

)

)

)

)

(CollegeofEnergyandPowerEngineering,NanjingUniversity

1)

ofAeronauticsandAstronautics,Nanjing210016)

(SchoolofLogisticsEngineering,WUT,Wuhan430063)

Abstract

Inordertoimprovetheabilityofobstaclesurmounting,amethodofstructuralsynthesisfornewstylefourleglunarroverwaspresentedintermsofvariableterrainonlunarsurface.Alegwheeleddesigningprojectwasselectedfromfivebarlinkagesaccordingtodesigningrequirements,sotheabili2tyofobstaclesurmountingwasimproved.Thisnewstylefourleglunarroverhassimplelegwheeledstructure.Thelegsareconnectedtothebodyworkbyashelfwithflexibility,andthereisatrianglestructurecomposedbyeachlegwheeledandtheshelf.Thenrationalposturesofthelegsaredesignedaccordingtodifferentterrainsinlunarsurface.Alltheseimprovedthestabilityandtheadaptability.Byusingvirtualprototypetechnologythemovingcharacteristicofthelunarroverhasbeensimulated.Keywords:lunarrover;legwheeledmechanism;abilityofobstaclesurmounting;postureestablish2

ing;simulationanalysis

2)