载人月球车转向传动机构的优化设计及分析

Optimal Design and Analysis of Steering Mechanism of Manned Lunar Rover

针对登月舱承载所限及月表地形复杂,要求载人月球车不仅机构简单且具备较小转弯半径,设计了一种载人月球车的转向传动机构。推导了机构内外轮转角数学模型,基于阿克曼转向原理建立其优化模型,通过优化得出转向梯形参数最优解。利用机械系统动态仿真软件ADAMS建立仿真模型,进行运动学仿真,验证了之前解析推导合理性,利用有限元分析软件ANSYS对关键杆件进行应力与变形的校核。

In view of the lunar module load limit and lunar complex terrain,the manned lunar mechanism must be light and simple,and has a smaller turning radius,so one type of steering mechanism is designed. The inner and outer wheel turning angles mathematical model is deduced. Based on Ackerman- geometry steering theory,the optimized mathematical model of the steering mechanism is established. By the model optimization and results analysis,the best steering mechanism parameters are obtained. The steering mechanism ADAMS simulation model is established to verify the rationality of the prior analysis,the stress condition of key bars of the steering mechanism is analyzed by using finite element analysis software.