行星轮式月球车移动系统的关键技术

KEY TECHNOLOGY OF MOVING SYSTEM OF LUNAR ROVER WITH PLANETARY WHEEL

为提高月球车的越障能力,重点考虑提高车轮的越障能力,成功研制了一种采用扭杆弹簧和磁弹簧减振器 并联悬架,且每个行星车轮独立驱动的月球车。在行星车轮不翻转越障条件下,推导了月球车两个前行星车轮同 时越障时可以爬过的垂直障碍高度与车辆参数的关系,并进行了ADAMS仿真。对行星轮式月球车进行了动力学 分析,确定了行星车轮的等效地面不平度函数,并在此基础上建立了7自由度月球车振动系统模型,根据模型的 计算结果确定了扭杆弹簧刚度和减振器阻尼的最佳参数范围。同时,进行了月球车爬坡试验和垂直越障能力试验 研究,还模拟月球的低重力环境进行了整车的低重力试验。

In order to improve lunar rover＇s passing obstacle capability, especially to consider its wheel＇s passing obstacle capability, a new lunar rover which adopted parallel suspension system with torsion bar spring and magnetic spring absorber and independent planetary driving wheel is designed and manufactured. The relation between vertical obstacle height and rover parameters is inferred when two front wheels of planetary wheel of lunar rover passes obstacle under the condition that planetary wheel is not overturning. And it is simulated by ADAMS. Dynamics analysis of lunar rover is completed. Planetary wheel equivalent flatness function is determined and 7-DOF rover vibration model is set up based on it. Then the best parameter range of torsion bar spring stiffness and absorber damp are determined. Slop moving test and vertical obstacle passing test research are given. Simulating lower gravity of moon environment, the rover＇s low gravity test is done.