摇臂-转向架式月球探测车越障通过性分析

Analysis of Climbing Obstacle Trafficability on the Six-Wheeled Rocker-Bogie Lunar Rover

为评价6轮摇臂-转向架式月球探测车的地面通过性,分析了其失去越障通过性的类型,确定了通过性几何参数,推导了失去通过性的条件,包括车身悬起和越过垂直障碍失去通过性的条件,由此对越过壕沟失去通过性的条件进行了分析,确定了月球探测车悬起失效、越过垂直障碍、跨越壕沟的极限尺寸,并给出了运用ADAMS软件仿真越过垂直障碍过程时各车轮所受正压力曲线.最后,对探测车原理样机的地面越障通过性进行了模拟实验.

For evaluating the performance of trafficability on a six-wheeled rocker-bogie lunar rover, this paper analyzed its trafficability loss types of climbing obstacles and defined the geometric parameters of trafficability. The trafficability loss conditions were derived, including the conditions of hanging up and climbing vertical obstacles. Based on it, the hurdling ditches conditions were studied. The limiting dimensions of hanging up losing, climbing vertical obstacles, hurdling ditches were confirmed. The correctness of the theoretical derivation were proved by comparing the theoretical and simulating values, and the normal force curves of ADAM simulating were shown. At last, simulating experiments of climbing obstacle trafficability on the lunar rover prototype were carried out.