基于半转机构的月球车移动系统及运动学分析

Mobile System of Lunar Rover Based on Half-rotating Mechanism and Its Kinematics

针对月球探测的特点,提出了一种新型的基于半转机构的月球车移动系统,介绍了其特点以及机构原理。比较了一级半转机构和二级半转机构的起伏度,建立了月球车机构转杆正向运动学模型。MATLAB仿真结果表明,二级半转机构的起伏度较一级半转机构减小60%左右。

A new type of mobile system based on half- rotating mechanism was introduced according to the characteristics of the lunar exploration. It was introduced the characteristics and mechanism principles, compared the undulation of one-level half-rotating mechanism to that of two -level half-rotating mechanism, and derived the solution of the forward kinematics of the leg of the lunar rover. The result shows that the undulation of the lunar rover based on two-level half-rotating mechanism is about 60% lower than that of the lunar rover based on one-level half-rotating mechanism.