轮式探测车被动自适应性与自由度关系分析

Relationship analysis between passive self-adaptability and degrees of freedom of the wheeled rover's locomotion system

为设计具有自适应性能的探测车,保证轮式探测车移动机构在行驶过程中车轮与地面接触良好,研究自适应性能与单侧悬架系统及其漫游车整体所需自由度之间的关系.给出自适应性的3种分类方法,分析自适应性能对漫游车的爬坡性能、车体稳定性能及能耗特性的影响;建立具有自适应性能的探测车单轮系统数学模型并得到此系统的自由度;分别建立包含两轮、三轮及k个车轮的自适应悬架系统数学模型,分析并得到上述系统所需的自由度;分别建立在悬架对称布置和四周布置两种情况下的探测车自由度模型,并对一些具有代表性的被动自适应特性探测车自由度进行了统计和分析.研究结果表明:良好的自适应性是实现移动机构综合性能的前提条件,具有自适应性的单侧悬架系统与探测车整体所需自由度分别为1和3.该方法可为探测车悬架及车体系统构型综合时自由度的确定提供指导.

To make the designed rover have self-adaptability and better contact with ground, DOFs required for single suspension system and the whole rover are studied. Three classification ways of self-adaptability are given, and the relationship between self-adaptability and climbing performance, stability, energy consumption is analyzed. Mathematic model of single wheel-suspension system is established and such system＇ s DOF is obtained. Based on aforementioned analysis, mathematic models of double, three and k wheel-suspension system are established respectively with calculated DOFs for these systems. Two DOF models for wheeled rover are given followed by DOF statistics and analysis of some representative self-adaptive rovers. The analysis shows that self-adaptability is the basis for realizing comprehensive performance of the locomotion mechanism. DOFs for single suspension system and rover are 1 and 3, respectively. The conclusion has universalism and can determine required DOFs for structural synthesis of wheeled rover.