基于半转机构月球车硬地面越障性能分析

Obstacle-climbing Capability Analysis of a Lunar Rover with a Half-rotating Mechanism on Hard Land

针对半转机构月球车的结构特点,对月球车在任意路面的越障能力进行了分析。由于任意路面越障模型相对复杂,可以建立的独立平衡方程数目少于未知变量数,为此提出了一种新的越障能力评价指标,指出摩擦力解空间的可行域面积越大,轮腿越障能力越强;当轮腿所受摩擦力可行域不存在时,机构将不具有初始条件下的越障能力。建立了在约束条件下月球车在具有坡度地面和一定越障高度的越障力学模型,并通过寻找轮腿所受摩擦力解空间可行域的方法,对单轮腿在具有坡度地面上单独前进越障性能进行了仿真研究。仿真结果表明:在越障高度及与地面接触角相同的情况下,后轮腿的越障能力比前轮腿强。

The obstacle-climbing performance on arbitrary road surface was analyzed according to the characteristics of the lunar rover based on a half-rotating mechanism.Because the obstacle-climbing model of arbitrary road surface was relatively complicated and the numbers of independent equation were less than those of unknown variables,a new judging standard of the obstacle-climbing capability was presented.We point out that the larger the friction feasible region,the stronger the obstacle-climbing ability,and that when the friction feasible region does not exist,the mechanism does not possess the obstacle-climbing capability under the initial conditions.The obstacle-climbing force model under friction constraints was established while giving the slope angle and obstacle height.The single wheel-leg forward obstacle-climbing capability was simulated through the method of finding the wheel-leg′s friction feasible region.Simulation results show that for the same obstacle height and slope angle,the rear wheel-leg has better obstacle-climbing capability than the front one.