新型四轮腿式月球车轮腿结构设计及分析(4)
时间:2025-07-11
时间:2025-07-11
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
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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;
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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)