高通过性与平稳性月球车移动系统设计

Innovative Locomotion System with High Trafficability and Cab Smoothness for Lunar Rover

月表行驶环境恶劣,这对月球车移动系统提出了更高的要求。为提高月球车的移动能力,提出一种具有高通过性和载荷平台平稳性的新型月球车移动系统。该移动系统由正反四边形机构悬架和伸缩叶片复式步行轮组成。正反四边形悬架是一种适用于六轮月球车的非独立悬架,通过与摇臂式悬架进行受力和姿态运动的对比分析和仿真对比分析可知,它可以使月球车具有较高的越障性能并在越障过程中保证载荷平台的相对平稳。同时,针对不同松散程度的月壤,根据车轮-土壤力学原理,设计出伸缩叶片复式步行轮。该种车轮最突出的特点是能够根据车轮与土壤间的相互作用关系,自适应调节叶片入土深度,从而改变车轮的牵引能力、平顺性和能耗。对该种移动系统进行多项移动性能试验,结果表明,该种新型移动系统具有较高的越障能力和保持载荷平台平稳能力,能够在恶劣路况下最大限度的发挥车轮的牵引能力,而且在路面通过性良好时尽可能的节约能耗,增加车轮滚动的平顺性。

The terrain and soil environment of moon surface are hard for vehicle to move, so the higher capabilities are required for locomotion system of lunar rover. An innovative locomotion system with high trafficability and cab smoothness is proposed to meet the requirements of hard environment. It is composed of the obverse-reverse four-linkage suspension and the vane-telescopic walking wheel. The obverse-reverse four-linkage suspension is a dependent suspension for six-wheel vehicle. It can make the vehicle have strong climbing capability and keep cab relatively smooth during climbing through the comparison with rocky-bogie suspension based on dynamics, kinematics and simulation. Aiming at enhancing performance in sandy soil of multi-incompact degree, the vane-telescopic walking wheel is proposed. Based on the interaction between wheel and soil, the wheel can automatically adjust the depth of vane into soil so as to change the tractive capability, ride comfort and energy consumption. Some tests are also done to verify above performances. The result shows that the innovative locomotion system not only has strong climbing capability and can keep cab relatively smooth during climbing, but also can enhance the tractive capability as far as possible under the poor traffieability road candition and decrease the energy consumption and vibration under the good traffieability road candition.