六圆柱-圆锥轮式月球车的设计

Design of a lunar rover with six cylinder-conical wheels

针对月球表面的非结构化环境,设计了一种新型六圆柱-圆锥轮式月球车.整车由三节串联而成,每节具有一对独立驱动的圆柱-圆锥轮,由两个三自由度的悬架结构连接,三节之间能够被动实现俯仰和扭转相对运动;悬架关节中设计有离合器或制动器,能够根据需要锁住关节或在电机驱动下实现主动俯仰或前摆运动,从而能够使月球车根据路况以轮式或轮步方式移动.为了降低刚性车轮产生的振动,在车轮和支承轴之间设计了由金属橡胶构成的减振器.对月球车的结构参数优化和移动性能的分析,结果表明,该车具有很强的地形适应能力和越障能力.

A new type of lunar rover with six cylinder conical wheels was designed considering the unstructured environment of the lunar surface. The chassis of the rover consists of three configuration segments with a pair of independently motorized wheels, which are joined together by two articulated frames with three degree of freedom. Mounted with two clutches and a brake on each, the two articulated frames allow the segments to passively twist and pitch, to brake to a configuration, or to be motorized to pitch or swing. So the rover is capable of locomotion in wheel mode or in wheel-walking mode depending on the soil surface conditions. To reduce vibration from rigid wheels, a vibration absorber made of mental rubber is designed for each shaft of the wheels. Based on a virtual prototype, optimal parameters of the rover are obtained. Analysis and calculation shows the rover has excellent conformability to rough terrain and strong obstacle climbing capability.