摘要
在展开过程中,八轮扭杆摇臂式可展开月球车受到月面不平激励引起的随机振动和展开动力源引起的强迫振动的共同作用.为方便建立振动模型,针对八轮扭杆摇臂式月球车的结构特点,将两个耦合的地面不平输入等效处理为一个独立的地面不平输入;在此基础上建立了11自由度振动微分方程.通过对振动微分方程进行傅里叶变换,将两种振动激励解耦处理,在Matlab中编程绘制了月球车车身振动响应幅频关系曲线、振动加速度幅频关系曲线以及定刚度时悬架动挠度均方根值与阻尼间的关系曲面.分析了车体在三个方向的振动响应及振动加速度的变化特点,指出了系统刚度值不变的情况下阻尼的合理取值范围,为进一步改进设计提供了理论依据.
The random vibration from the lunar ground roughness inputs and the forced vibration from the deployed drive source work together on the eight-wheel lunar rover with the torsion-bar and rocker structure when it deploys. For the convenience of establishing a vibration model, the two coupled ground roughness inputs are transformed into one independent ground roughness input equivalently, according to the structural characteristics of the eight-wheel lunar rover with torsion-bar and rocker structure. And based on the transformation, the 11 DOF differential equations of the vibration system are established and solved with Fourier transformation and decoupling. The amplitude-frequency characteristic curve of the bodywork vibration, the amplitude-frequency characteristic curve of vibration acceleration and the relation curve between the root mean square of the suspension flexibility and damps when the stiffness is constant are drawn by Matlab. The various characteristics of the bodywork vibration response and the vibration acceleration in three orientations are analyzed. The logical range of damp value with fixed system stiffness and the theory gist for improving farther design are brought out.
出处
《机器人》
EI
CSCD
北大核心
2007年第6期534-539,545,共7页
Robot
关键词
可展开月球车
扭杆摇臂
振动模型
功率谱
deployable lunar rover
torsion-bar and rocker structure
vibration model
power spectrum