摇臂探测车折叠式悬架的综合评价与设计分析

Comprehensive Evaluation and Design Analysis of the Folded Suspension of Rocker-Bogie Exploration Rover

悬架是探测车车体与车轮的连接部件,对整车体积影响较大。为减小探测车在着陆器内所占的空间,将悬架设计成可折叠展开形式。概括了可折叠悬架展开的特点及其设计要求。针对同一展开悬架构型,提出了4种可折叠悬架的构型方案,对它们进行了模糊综合评价,确定了综合性能最优的一种构型。设计了一种弹簧驱动的可折叠悬架,并分别对折叠和展开状态悬架进行有限元分析,结果悬架的刚度和强度均满足设计要求。最后对悬架的展开过程进行了动力学仿真分析,得到了车体质心的垂直加速度和速度曲线。结果发现,在采取改进措施后,车体质心垂直加速度明显减小。

A suspension is a part connecting body and wheels of an exploration rover,which has influence obviously on the volume of the exploration rover.To reduce the occupied space of the rover in the lander,the suspension is designed folded.Deployment characteristics and design requirements of the folded suspension is summarized.Based on the same configuration,four schemes are presented,and fuzzy comprehensive evaluation is carried out,an optimal configuration is determined.A folded suspension by spring driving is designed,and finite element analysis of folded and deployed suspension is completed,results indicate that both the stiffness and the intensity satisfy the requirements.Finally,dynamics simulation analysis of suspension deployment process is accomplished,vertical acceleration and velocity curves of mass center of body are obtained,results show that the vertical acceleration of mass center of body can be decreased by some improvement measures.