一种双层框架型腿式月球探测车方案

A Twin-frame Legged Lunar Rover

月球车的设计,就行进方式而言,多以轮式车为主。考虑到国外已有的车型及相关研究也多以轮式车为先,这里提出了一种双层框架型腿式车的设计方案,它兼具腿式车和轮式车的优点。文章建立了该型车的三维模型,并利用虚拟样机技术,构建起月球车的动力学仿真环境,并进行了控制算法和步态的设计,通过联合仿真,完成了此车的初步方案设计工作。

The design of lunar rover is given priority to the wheeled in the light of traveling way. In view of the types given and the studies abroad which focus on the wheeled, here is given a design of twin-frame legged lunar rover, which has the excellences of both the wheeled and the legged. In the paper, three-dimensional model and dynamic simulation environment have been built using the Virtual Prototyping, and the control algorithm and gait have been given too. Through combined simulation, the prototype design of this vehicle has been finished.