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ProandconquadranglesuspensionforklunarsperformanceanalysisandsimulationWangQiaolingJilinTonghuaTeachersuniversityTonghua,Chinathwql163.comCƒGuanRongqiangChinauniversityofMiningandTechnology,Xuzhou,ChinaJilinTeachersInstituteofTechnologyandEngineering,Changchun,Chinaguanrongqiang1983163.comGuDongdongJilinTeachersInstituteofTechnologyandEngineering,Changchun,Chinagoomle1991163.comAbstractItiswellknownMoonssurfaceisdifferentwithEarthssurface,isoppositeinEarthsenvironment,Moonsenvironmentisquitebad,thesurfaceisuneven.Walkedforthelunarhasbroughtinconveniently.Basedonthiskindofsituation,westudythenewsteadylineofproandconquadranglesuspensionforklunarsdesign,basedonthisidea,thisarticlehascarriedontheanalysistolunarsproandconfourdistortionsuspensionfork,inviewofthequadrangleandthecounterquadranglesgoodandbadpointsproposedthattheproandconquadranglesuspensionfork,andcarriesonthesimulationtoitsperformance.EnablesitsbetterachievingtowalkthesamplegoalontheMoon.KeywordsLunarproandconquadranglesimulationADAMSI.INTRODUCTIONCompletedalongwiththeChangEfirstphasesvictorywithsecondphasestart1,ourcountryhasstartedaroundnewhightideoflunarprobing.howtocarriedonthesurveyfallthemonthlater,howcarriesonthedesign,thelunartothesciencesurveycarrierlunarsstructureandtheperformancehowtosurviveontheMoon,hasbecomethenewdifficultproblemwhichthescientificresearcherswantedtosolve.Thelunarresultedintheresearchalreadytohavetheveryprofoundhistory,whatputintotheresearchfirsttothelunarwastheformerSovietUnionandAmericanW.T.Huntress,etal.2003B.K.Muirhead,etal.2004Charles.R.Weisbin,etal.1997MarkWillisamson,etsl.2002BrainHarvey,etal.2007A.L.Kemurdajian,19982,andwilldevelopsuccessivelythelunardeliversMoon3,4,withoverseascomparesthedomesticlunarresearchtobequitelate,wasstillatthestartthecondition.AtpresentdomestichastheHarbinIndustryUniversity,ShanghaiJiaotongUniversity,theChineseScienceandtechnologyTechnologyUniversitytolunarskeytechnologiesandtheprototypicalresearchsschool.Theynotonlymanufacturedthelunarwhichandtheforeigncountrywassimilaralsotoinnovateadvancedeachkindofnewtheory.ThisarticleiscomplexinviewonthiskindofquestionaswellasMoonsspecialenvironmentroadsurface,isdistributingthesizeshapeanomalousstone,thecraterandthepitchMonthsoilgranularitysizenotstandard,loosedivergenceinconsistentandsoonquestion5.Carriesontheconcretedesigntolunarsbodystructure.Developsnewbasedontheproandconquadranglesuspensionforklikesixlunarwheeledvehicles.II.LUNARSSYSTEMDESIGNThisarticleelaborateswhatthelunarusesismainlyusestheproandconquadranglesuspensionforktocarryonthedesign.Thislunaraltogetherhassixwheels,the23distributioninnearbyloadplatformtwo.Incarriesontheshuttleregardingthebarriersmallsituationtothebarrier,tolargescaleisunabletheshuttlebarriertocarryondetours.Figure1istheproandconquadranglesuspensionforklunarvehiclelaboratorymodel,mayveryeasyseeonFigure1theproandconquadranglesuspensionforkthedesignmodel,thewheelandtheloadplatformplacetheposition.Figure1.Proandconquadranglesuspensionforklunarvehiclemodel60449781424481651/11/26.00©2011IEEEIII.PROANDCONQUADRANGLESUSPENSIONFORKSSTATEMENTANDDESIGNSBecausetherockingshafttypesuspensionforkMarsRoveralreadyandhasconfirmeditsfeasibilityafterMarstest.ThereforethisarticledesignsthelunaraswilluseforreferencetakethiskindofMarsRover,accordingtolunarMarsdifferentlyitsimprovement.A.AlignmentquadranglecounterquadrangleanalysisRocky7istheMarsRoverSojournerimprovementvehicle,itsbogieturnedastraightpolebytheoriginalbulgescurvedpole,changedintheSojournermovementincertaindegreethebogiestabilitynothighquestion.Butalsoreducedthebogiegroundclearanceinthechangeprocess,isthebogieisveryeasywiththebarriercontactwhichmustcross,jackedthesuspensionfork,isunabletosurmountthebarrier.Ifthereductionbogiesstraightpolelength,mayenhancethebogiethegeometrytopassthenature,butlikethiswillreducethebogiethestability.Fromthismaysee,thebogiestabilityandthegeometrypassthenaturetorestrictmutually,basedonthiskindofsituation,accordingtothekinematicsandmechanismprinciple,thisarticleproposedonekindequatesinRocky7andtheSojournerinclineandthecurvingbogieorganizationquadranglesuspensionfork.Figure2,chart3respectivelyistheinclinedcurvingbogiemodelandthequadrangleorganizationparametricmodel.Figure2.InclinesthecurvingbogiemodelFigure3.QuadrangleshapeorganizationparametricmodelThisquadrangleorganizationiscomposedofthreemembers,altogetherhas4hingepoints,twoforkshapedmarkshingecontactsarethepickuppoints.Installsthemethodwiththebogietoinstallenablesthecorrespondingmemberatotherpartstocirclethepickuppointtorevolvefreely.Whenquadranglesuspensionforklikechart4parallellayingaside,itsmemberandthecorrespondingbogiememberslengthandtheangleoftiltareequal,twokindoforganizationshavethesamelevelpathandthestressfulcondition,therefore,thequadranglesuspensionforkcandefinitelyreplacetheinclinedcurvingbogie,andhastheinclinedcurvingbogiefineperformance.Therockingshaftistherockingshaftbogieanotherbuildingblock,tosharpenthemainrockingshaftsobstaclecrossingability,weproposedonekindofrockingshaftsevolvedorganizationcounterquadrangleorganization.Enablesittoachievetheoptimizedrockingshaftperformancethegoal.Figure4.modleofrockingshaftFigure5.parametermodelofcounterquadrangleorganizationThecounterquadrangleorganizationhasfourhingepoints,weusedthedashedlineinFigure5thehelpattachmentpointcounterquadranglemodel,mightveryeasyseetheresonsiderationdistortionorganizationthroughthismodeltheprincipleofwork.Writesonthewayhasthehingepointthatspotpositionpickuppoint.Installsthemethodwiththebogietoinstallenablesthecorrespondingmemberatotherpartsthefreerotation.B.ProandconquadranglesuspensionforkdesignThroughthefrontanalysismayveryclearawareness,thequadrangleorganizationbepossibletosubstituteforthebogie,thecounterquadrangleorganizationmaysubstitutefortherockingshaft.Thereforethisarticleunifiesthequadrangleandthecounterquadrangletwokindoforganizationcharacteristics,proposedthatonekindofnewsuspensionforkproandconquadranglesuspensionfork,achievestheoptimizedsuspensionforkperformancethegoal.Figure6istheproandconquadranglesuspensionforkunilateralmoldedreliefmap.Figure6proandconquadranglesuspensionforkunilateralmoldedreliefmap6045Theproandconquadranglesuspensionforkiscomposedofthesixrootsconnectingrodandsevenhinges,whattheleftsideserialnumber1,2,3,4fourconnectingrodsconstituteisthequadrangleorganization,whattherightsideserialnumberis4,5,6,7fourconnectingrodsconstitutesisthecounterquadrangleorganization,sevenserialnumber1,3,7connectingrodsbeforethetrailingwheel,round,lineonthefeetandpalmsofbuddhaseparatelytheconnection.Itinstallsthewayandtherockingshaftbogiesuspensionforkisthesame.IV.PROANDCONQUADRANGLEANALYSISEstablishestwokindoforganizationrelatedmemberlengthandtheangleisthesame,theoutsideisalsosametotwoorganizationsactionsandthemomentofforce,inFigure4,Figure5Gistheloadplatformpressure,theactionwhichandthemomentofforce,respectively3meetsbethewheelbondswhentwoorganizationterminalsreceives,usually.Thedefinitionandrespectivelyistwoorganizationcounterbalancemoments.Twoorganizationscrawlmoreabilityrelativestrongandtheweaktobepossibletoreflectthroughthecontrastcounterbalancemomentthatthecounterbalancemomentisbiggercrawlsabilitytobestronger,otherwisecrawlsabilitytobeweaker.Withmay4.1andthetype4.2indicatedthroughthetype3313143331costansinLGTHHcLLFTfe−−βδβ4.134333533312sinsinsinsinsinLGLLFLTFHTfe−»»»¼º«««¬ª−βηδζηδβ4.2IntheformulaÈfRFTf33Èfistheeffectivefrictioncoefficientthatthepressuregeneratedbythefrictionwheelunit.Inlunarenvironment10−eTTÈthenquadrilateralisgreaterthanthebalanceoftheantitorquearmtorquebalance.45sin245sin4331315LLfRHfRHL−−DDββ4.4Therefore,afterthesuitableestablishmentvaluescounterquadrangleshapeorganizationhasstronglycomparedtotherockingshaftcrawlsability.V.PROANDCONQUADRANGLESUSPENSIONFORKPERFORMANCESIMULATIONANALYSISFoundstheproandconquadranglesuspensionforkandtherockingshaftsuspensionforkmodelinADAMS,foreaseofexplanation,hypothesisproandconquadranglesuspensionforkformodel1,rockingshaftsuspensionforkformodel2,MovesthesystemdesignrequestaccordingtotheChineselunartwomodelparameterdataestablishmentsisSize1.5m1.0m0.8m,quality120kg,monowheelquality3kg,naturedistancebetweencentersmonthhighly0.5m,wheeldiameter0.3m,wheelrotationalspeed6r/min,gauge0.5m,aroundwheelbase1.2m,gravityacceleration1.6m/s2.Gradualincreasesthemodelvehicleandtheroadsurfacefrictioncoefficientinthesimulationprocess,cancrawluntilthequadrangleroverjumpsoverthe250mmhighverticalbarrier.A.ToproandconfoursidegoodobstaclecrossingabilitysimulationTothemodel1,model2whensurmountsthe250mmbarrierthewheelfrictionforcecarriesonthesimulation,obtainsthefollowingchart8frictionforceandthetimerelations.ByFigure7surmountstheprocessandFigure7thefrictionforceandthetimerelationalgraphmaysee,whenwheelcontactbarrier,wheelseffectivefrictioncoefficientrisesrapidly,andinashorttimeachievesinabigway,whenthewheelliftoffstartslifts,theeffectivefrictionforcestartsthegradualslowdrop,fromthismayinfer,whenthewheeloccupiesthecontactbarrierbutliftsfortheliftoff,thewheelcrawlsmoreismostdifficult.Figure7relationsofmodle1andmodle2frictioncoefficientwithtimeForthecomparisonmodel1,model2obstaclecrossingabilities,carriesontheanalysistothechartcurvature.Maysee6046bythecurverelations,themodel1thefrictioncoefficientwhichneedsintheentireobstaclecrossingprocessmustbesmallerthanamodel,butneedsfrictioncoefficient.Therefore,model1abilitymustsurpassthemodel2obstaclecrossingabilities.Namelyproandconquadrangleshapesuspensionforklunarsobstaclecrossingabilitymustsurpasstherockingshaftsuspensionforktypelunarsobstaclecrossingability.WhenobstaclecrossingwithplatformstableanalysisB.WhenobstaclecrossingwithplatformstableanalysisWhenlunarwhenthroughunevenroadsurface,theloadplatformwillhavecertainextentangleofpitchswinging,theswingingdegreesizeandthesuspensionforkformbytheverybigrelations,willhavethefineperformancesuspensionforkwhenthroughtheroadsurface,onlywillthenveryslightlyswing,belowwillusetheangleofpitchsizeexpressionsuspensionforktheperformancequality,thevalueissmaller,theshowingsuspensionforksperformancewillbebetter.Figure8istwomodelsissurmountingthe250mmhighverticalbarrieristheelevationanglechange.Andthesolidlineisthemodel1angleofpitchdiagramofcurves,theemptyhatchureisthemodel2pitchingdiagramsofcurves.Figure8PitchanglecurveoftwomodleMayseeaccordingtothechartincurverelations,themodel2biggestanglesofdepressionare18.7degrees,themodel1biggestangleofdepressionare11.5degrees,thereforeobviously,whenmeetsbondsthemodel1stabilitytobehigherthanthemodel2stabilities,theproandconfoursidegoodsuspensionforkshavecomparetherockingshaftsuspensionforktohavecanthesuperiorperformance.VI.CONCLUSIONSThisarticleproposedonekindofinnovationslunarmovesthesystem,thissystembeginsusingtheproandconquadranglesuspensionforkisamainbody.Inthearticlethroughtotherockingshafttypesuspensionforkandtheproandconquadranglesuspensionforksstressanalysis,thepostureanalysis,obtainstheproandconquadranglesuspensionforktobeabletocausethemotionsystemtocomparetherockingshafttypesuspensionforktohavethestrongobstaclecrossingabilityandthesteadyabilityconclusion.Andiscarryingonthesimulationanalysistotheproandconquadranglesuspensionforksobstaclecrossingabilitywiththeplatformstability,analyzestheproandconquadranglesuspensionforkthroughthesimulationgraphtohaveandsoonsuperiorlytheperformance.Thissystemsdesignisacomparisoninnovationsystemdesign,hastheChinesecharacteristiclunarandthesystemtothelaterconstructionhascertainreferencefunction.REFERENCES1OuyangZiyuan.OurcountrylunarsurveysoverallscientificgoalandthedevelopmentalstrategyJ.geoscienceprogresses.204,03351358InChinese.2ChenShirong.Therockingbarchangestheposturelunarandthemonthsurfacethroughtheperformancestudy.UniversityofScienceandTechnologyofChina.Precisioninstrumentandmachinery.2009.InChinese.3GGenta.Vehiclesforroboticandmannedplanetaryexploration.57thIntemationalAstronauticalCongress.20061154CARRIER,W.D.Sovietroversystems.SpaceProgramsandTechnologiesConference.1992185ZHENGYongchun,OUYUANZiyuan,WANGShijie,etal.PhysicalandmechanicalpropertiesoflunarregolithJ.JournalofMineralogyandPetrology,2004,2441419.InChinese.6047
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