摘要
A method of topology synthesis based on graph theory and mechanism combination theory was applied to the configuration design of locomotion systems of lunar exploration rovers(LER).Through topology combination of wheel structural unit,suspension unit,and connecting device unit between suspension and load platform,some new locomotion system configurations were proposed and the metrics and indexes to evaluate the performance of the new locomotion system were analyzed.Performance evaluation and comparison between two LER with locomotion systems of different configurations were analyzed.The analysis results indicate that the new locomotion system configuration has good trafficability performance.
A method of topology synthesis based on graph theory and mechanism combination theory was applied to the configuration design of locomotion systems of lunar exploration rovers （LER）. Through topology combination of wheel structural unit, suspension unit, and connecting device unit between suspension and load platform, some new locomotion system configurations were proposed and the metrics and indexes to evaluate the performance of the new locomotion system were analyzed. Performance evaluation and comparison between two LER with locomotion systems of different configurations were analyzed. The analysis results indicate that the new locomotion system configuration has good trafficability performance.
基金
Supported by National "863" High-Tech Program (No.2006AA04Z231)
Foundation of State Key Laboratory of Robotics and Systems (No.SKLRS-200801A02)
the College Discipline Innovation Wisdom Plan (No.B07018)
Natural Science Foundation of Heilongjiang Province (No.ZJG0709)
