一种新型可伸缩轮刺月球车的越障特性分析

Analysis of Obstacle Surmounting Characteristics of A New Type Lunar Rover with Retractable Spikes

针对传统月球车存在的弊端以及月球表面特殊的地表环境,设计了一种可伸缩轮刺的新型月球车。新型月球车通过精确控制车轮轮刺的伸缩高度来改变车轮直径,使月球车能较平稳地越过不同高度的障碍物。通过分析新型月球车在平整地形和障碍地形上的运动过程,建立虚拟样机模型并进行了动力学仿真。仿真结果表明,可伸缩轮刺的车轮结构设计合理。

According to the disadvantages of the traditional lunar rover wheel with spur and the special geographical environment of the lunar surface,this paper proposes a new lunar rover wheel structure with retractable wheel spur.The new lunar rover can cross obstacles with different heights steadily by wheel diameter changing through accurate protruding length control of wheel spurs.Through theoretical analysis of the movement process of the lunar rover under flat and obstacle terrains,establish the virtual prototype model and conduct the dynamic simulation.The simulation results verify the rationality of the wheel structural design of lunar rover with retractable spikes.