六轮月球探测机器人质心域分析及摇臂优化

Centroid Domain Analysis and Optimization of Rocker Arm for Six-wheeled Lunar Robot

针对月球探测机器人在崎岖不平的月面上行驶时,其质心位置影响着抗倾翻以及越障等性能,对六轮月球探测机器人质心域分析及摇臂优化。简要分析探测机器人部件,运用坐标转换推导出在任意运动位置时质心域的计算公式,在此基础上对探测机器人进行样例分析,得到质心矢量的模关于摇臂转角的变化曲线,获得两侧摇臂转角与质心矢量的模的变化规律,并对摇臂尺寸进行优化。结果表明:探测机器人的质心域为一平面区域,当l3+l4为定值且l3:l4=2:1时,其车体抗干扰性能最强。

When exploration robot driving on the bumpy month lunar, its centroid position affects the Anti-tipping performance as well as obstacle ability and so on. So a centroid domain analysis and an optimization of the rocker arms are put forward. We used coordinate transformation to deduce the calculation formula of the centroid domain in arbitrary motion position by means of detecting robot parts simplified. On this basis, a research on detecting robot was carried out using sample analysis. It gave out the centroid vector model of radial angle change curve, and got the changing rule of both sides of the rocker arm angle and centroid vector mode. Finally we optimized the size of the detection robot arm. The results show that the centroid domain is a flat area, when the value of l3＋l4 is constant and l3：l4=2：1, the car body can get the strongest anti-jamming performance.