摘要
星球车移动系统作为星球面探测的媒介，其关键技术的研究对于完善探索太空工程具有重要意义。本文主要进行八轮星球探测车可展开移动系统的设计。
为实现星球车折叠比及相应的功能要求，分别对组成移动系统的悬架部件、车轮部件进行设计。通过准静力学分析，分析了各结构参数对星球车越障通过性的影响。为确保八轮星球探测车越障能力满足设计要求，求解后确定了其整体结构尺寸。
根据所确定的结构尺寸，对八轮星球探测车可展开移动系统进行设计，包括车轮部件、悬架部件。根据车轮部件独立驱动、独立转向的功能要求，进行驱动传动装置及转向装置的设计，同时采用可展开车轮新构型设计了相应的轮辐结构。根据可展开悬架新构型，对悬架部件进行了总体结构设计。

关键词　八轮星球探测车；可展开移动系统；结构设计；建模

Abstract
Locomotion system of lunar rover is the medium of lunar exploration, the research of the locomotion system key technologies of lunar rover has important meaning for perfecting project of lunar exploration. The key technologies on deployable locomotion system of the eight-wheel with torsion-bar and rocker structure lunar rover are researched.
To meet the demand that the volume of lunar rover is least at folded station, and to realize the relevant function, the suspensions and wheels, which make up of the locomotion system, were designed. By the quasi-static analysis, the performance parameter expression of climbing obstacle with structure parameters was determined. The influence that each design parameter acts on the lunar rover performance of climbing obstacle is analyzed. In order to guarantee the climbing ability of eight-wheel with torsion-bar and rocker structure lunar rover to satisfy the design request, after solving the model, the structure dimension of the eight-wheel with torsion-bar and rocker structure lunar rover is made sure.
According to the structure dimension, the deployable locomotion system of the eight-wheel with torsion-bar and rocker structure lunar rover was designed, involving the wheels, the suspensions and the power for deploying the suspensions. According to the characteristic each wheel is driven and veered alone, the driving and turning devices of deployable wheel have been designed. Using the new framework of deployable wheel spoke, its structure has been designed. According to the new framework of deployable suspension, the whole structure of the deployable suspension parts has been designed.

Keyboard lunar rover, deployable motion system, physical design, modeling,

目录
摘要
Abstract
第1章绪论 1
1.1 课题背景及研究意义 1
1.2 行星车移动系统概述 2
1.2.1 不可展轮式移动系统研究现状 2
1.2.2 可展开轮式移动系统研究现状 5
1.3 本文主要研究内容 8
第2章可展开移动系统结构设计 9
2.1 引言 9
2.2 移动系统结构的基本型式 9
2.3 可展开悬架结构 10
2.3.1 可展开悬架结构特点分析 10
2.3.2 可展开悬架展开方案确定 10
2.4 可展开车轮结构设计 12
2.5 本章小结 13
第3章可展开移动系统的参数设计 14
3.1 引言 14
3.2 由结构参数表征的地形通过条件 14
3.2.1 通过崎岖地形临界条件 15
3.2.2 通过坡状地形失效条件 15
3.3 由结构参数表征的越垂直障碍条件 18
3.3.1 两个前车轮同时越障 18
3.3.2 两个中前轮同时越障 19
3.3.3 各轮越过垂直障碍能力评价 21

3.3.4 越过壕沟的能力 21
3.3.5 移动系统的主要参数确定 21
3.4 本章小结 22
第4章可展开移动系统车轮部件设计 23
4.1 引言 23
4.2 可展开移动系统概述 23
4.3 车轮部件及其驱动 23
4.3.1 驱动方案确定 24
4.3.2 可展开车轮结构设计 25
4.4 本章小结 26
第5章可展开移动系统三维建模 27
5.1 三维建模软件简介 27
5.1 可展开移动系统三维建模 27
5.3 本章小结 28
第6章结论 29
参考文献
致谢
第1章绪论

1.1 课题背景及研究意义
月球是距离地球最近的自然天体，蕴藏大量的矿产资源，是人类飞离地球进行深空探测的第一站，也是理想的天然空间中转站。月球所具有的巨大经济、政治和军事价值使得月球探测成为人类一直关注的焦点。在经历了第一次美苏探月高潮以后，月球探测沉寂了20年，1986年美国提出的“重返月球、建立月球基地”设想，揭开了新一轮探月高潮的序幕。俄罗斯、日本、欧洲空间局、印度等国家和组织也纷纷宣布要进行月球探测。作为一个航天大国， 2000年11月22日中国发布了《中国的航天》白皮书，明确提出未来10年将开展深空探测研究，重点开展月球探测。2004年中国正式启动了探月“嫦娥工程” [1]。

全部文件.gif

A0 总装配图.gif

A2 车架.gif

A4 车架.gif

A4 传感器座压盖.gif

字数统计.gif

内容简介：: AbstractThis article proposes a newtype of suspension forlunar rover. The suspension is mainlyconstructed bya positivequadrilateral levers mechanism and a negative quadrilaterallevers mechanism. The suspension is designed based onfollowing factors: Climbing up obstacles, adapting terrain,traveling smoothly, and distributing equally the load of cab towheels. In the article, firstly the structure of the newsuspension is described, secondly the kinematics of the leversis analyzed, and the relational equations of the suspensionlevers are established, so the distortion capability of thesuspension is known. In order to test the capability ofsuspension, we design a prototype rover with the newsuspension and take a test of climbing obstacles, and the resultindicates that the prototype rover with new type of suspensionhas excellent capability to climb up obstacles with keeping cabsmooth. Based on the shortcoming found in test, we optimizethe levers mechanism, and then establish the rover modelswith the new type of suspension and with Rocker-Bogiesuspension based on ADAMS, and then the capability compareon simulation is followed. The further researching work forthis newdeveloped suspension is being carried out now so as toimprove its overall performances. China has been determinedto carry out the lunar exploration project in the near future.The proposed newtype of suspension would provide a valuabletechnical support to it.I. INTRODUCTIONhina expects to send a lunar rover to the moon toimplement themenologyexploration in 2012. Therefore,some of research institutes and universities are activelyengaged in related areas of the lunar rover. Since thelocomotion systemofthelunar rover isloaded with detectioninstruments, it is important to move smoothly. In order todevelop menology exploration technology in china, JilinUniversity china invents a new type of suspension for lunarrover in 2004. The suspension is mainly constructed by apositive quadrilateral levers mechanism and a negativequadrilateral levers mechanism. The test results indicatethat the new type of suspension has excellent capability toclimb up obstacles with keeping cab smoothness. Theproposed new type of suspension would provide a valuabletechnical support to the moon exploration in the future.Manuscript receivedSeptember 30, 2006. This work was supported in partby the National Natural Science Foundation of China (No.50675086).Chen Bai-chao is with the Transportation College, Jilin University,Changchun,130025,China.(Phone:0086-431-85095461;Fax:0086-431-85095461; Email: ).Wang Rong-ben is with the Transportation College, Jilin University,Changchun, 130025, China. (Email: wrb)II.OBSTACLESANALYSISThe force loaded in suspension lever is shown partly infigure 1 when a wheel encounters the obstacle.Gwis the gravity of single wheel. Fmis the resultant forceactedtosuspension lever bywheel. is theanglebetween Fmand horizon. G is the weight of whole rover. is theadhesion coefficient between road and wheel. is roadresistance coefficient. Defining f is a coefficient and takingf=-. It is assumed that thelunar rover is driven by sixwheels, threewheels on each side,and the load of weight is equallydistributed to six wheels. Sowhen a single wheel encountersthe obstacle, there is:=36arctanf/G-GG/w(1)Considering the characteristics of menology soil, takefmax=0.451. Considering the structure and weight of rover,take Gw=G/602. Sothrough theequation (1), theconclusionis =45. It means the direction of the force acting tosuspension lever by wheel is 45 to horizon.III. DESIGN OF THE NEW TYPE OFSUSPENSIONA. Design principles of SuspensionThe following factors are considered when suspension isdesigned.1) Excellent capability of climbing up the obstaclesWe known from above analyses, when wheel encounterobstacles, thedirection offorceacting tosuspension lever bywheel is 45 to horizon.When the levers mechanism is designed, the directions ofsome levers to joint wheel should be vertical to directions ofthe forces acted in them as much as possible in order toincrease the torque to make lever turn in the directionbeneficial to climb up the obstacles. So we should make therelevant levers sloped with reverse 45 to horizon.2) Excellent capability of traveling smoothlySuspension should have the capability of automaticadapting terrain when traversing obstacles, which couldeliminate the influence of uneven ground and keep the cabsmooth.Design and Simulation Research on a New Type of Suspension forLunar RoverCHEN Bai-chao, WANG Rong-ben, YANG Lu, JIN Li-sheng, GUO LieCFigure.1 Force of suspension leverProceedings of the 2007 IEEE International Symposium onComputational Intelligence in Robotics and AutomationJacksonville, FL, USA, June 20-23, 2007ThBT3.51-4244-0790-7/07/$20.00 2007 IEEE.1733) Distributing equally the load of cab to every wheel4)Excellentabilityoffoldingandunfolding in order to becarried easilyB. Structure of the positive and negative quadrilateralsuspensionAccording to the suspension design principles above, wedesigna new type of suspension, which is mainlyconstructed by a positive quadrilateral levers mechanismand a negative quadrilateral lever mechanism,shown in Figure2. Thesuspension is composed ofsix levers,and theends ofthelever 1, lever 3 and lever 6 are connectedseparately with front-wheel 15, middle-wheel 16 andrear-wheel 17. The lever 1 and lever 2 are hinged at point 8,thesamehinged is alsothelever 1 and lever 3 at point 7, thelever 2andlever 4atpoint10, thelever 3 and lever 4 at point9, the lever 2 and lever 5 at point 12, the lever 4 and lever 6atpoint14, andthelever 5andlever 6at point 13. Both sidesof the positive and negative quadrilateral levers mechanismareconnectedwith cabthrough differentialshaftin lever 4 atpoint 11. So yaw angle of cab is the average yaw angle ofboth side lever4.Figure 2 Positive and negative quadrilateral suspensionIV. ABILITY OF ADAPTING TERRAINA. Kinematics equations of the suspension leversIn order to analyze the movement relation among thelevers easily, an assistant line is made from the center of thefront-wheel and 45 to the lever 1, shown in Figure 3. Theangles among three branch levers of lever 4 are respective135, 135, and 90.Thelever 1isparalleltoabranch lever oflever 4, thelever2 is parallel to lever 3, and the assistant line is parallel toanother branch lever of lever 4. The lengths of every leverare respective L1, L2, L3, L4, L5, L6, L7, L8, L9, L10, and L11,shown in Figure3. And a is the distance between the centersoffront-wheel and middle-wheel along horizontal direction,b is the distance between the center of middle -wheel andrear-wheel along horizontal direction, c is the distancebetween the assistant line and the center of rear-wheel, d isthe distance betweenthe centerof front-wheel andrear-wheel along the assistant line, h is the height betweenthe centers of climbing-wheel and other wheels, is theanglebetween lever 3 and lever 1, is between assistant lineand lever 1, is the angle between lever 5 and the verticallineoftheassistant line, is between lever 6 and the verticallineoftheassistant line, is the angle between assistant lineand horizontal, is between lever 3 and horizontal, isbetween lever 6 and horizontal, is between lever 1 andhorizontal, is the angle between the vertical line of lever 6and lever 5, is between thevertical lineoflever 2 and lever5, and is a medial- variable. The angle unit is all degree.Figure 3 Geometric parameters of the suspensionIt is assumed that every wheel does not depart fromground when climbing up the obstacles. The kinematicsequationsoflevers areshown as belowwhen thefront-wheelclimbing up obstacle.( )( )( )()()2911765135cossinsincos-LL-LLLL=+o( )( )( )()()29765135sincoscossinLLLLL=+o()()( ) ()()( )c-L-LLLLL=+cos135sinsin45sin829321oo()()( )()()( )dLLLLLLL=+sin135coscos45cos82911321oo()() ()431sin45sinLLLh+=+o()( ) ()431cos45cosLLLa+=o( )( )achb+=cotcos( )( )/dchsincos=+o90+=+=o45( )( )/coscos=+=o90=o135Theequations ofthemiddle-wheel and the rear-wheel areestablished in the same way.B. Height of obstacle wheel climbing upConsidering the whole structure of rover, the followingparameters are initialized:L1=400mm, L2=50mm, L3=250mm,L4=150mm, L5=100mm, L6=250mm, L7=100mm, L8=250mm, L9=100mm, L10=50mm, L11=282.8mm.What height obstacle wheel can climb up can be gainedThBT3.5174through the value of h. However, the equations above arenonlinear and there are15equations for16variables, theanalytic solutions of h cant be got. The numerical methodmust be applied here to solve the problem. As can expressthe corresponding relation to positive and negativeFigure 4 Corresponding relations between the heights ofclimbing up in the front, middle, rear wheels and angle quadrilaterals, is selected as independent variable. Thedifferent values of between-20-100are taken into theequations, and then corresponding values of h can beobtained. Figure4show the conclusion of calculationthrough curves. The x coordinate represents angle , the ycoordinate represents the height of wheel raising, and thecurves ofright, left and middlesides correspond to the front,middle, rear wheels. Obviously, the maximum height ofwheel climbing is about220mm.V. TRAVELING EXPERIMENTS OF PROTOTYPE LUNAR ROVERIn order to validate the characteristics of the suspension,the suspension is installed on a prototype lunar rover. Whentesting, a block with height of250mm, and theobstacleangleof 75 is placed at the front of the lunar rover. It is shown inFigure 5. The testing results indicate that the lunar roverwith thenewtypeofsuspension hasexcellentabilitytoclimbup obstacles with keeping cab smooth.VI.SIMULATION ANALYSISThetestingresultsindicatethatthelocomotion systemhasthe following advantages: Excellent capability of climbingup the obstacles forward and excellent capability of keepingcab smooth. But it also has some disadvantages: Unequalwheel loads and bad capability of climbing up the obstaclesbackward.So, this suspension is optimized so as to improve aboveshortcomings. The simulation is followed in order to verifythe optimizing results, the rocker-bogie suspension used insojourner mar rover34is taken as comparable modelduring simulation.A. Simulation environmentWe make the Rocker-Bogie suspension rover model (thefollowing shortened form: Rover) and the positive andnegativequadrilateralsuspensionrovermodel(thefollowing shortened form: CJ-1) the same size models onADAMS for justice. Only in suspension form is the twomodels different, the characters of other parts are the same.The same is that mass of the two rover is 200 kg, center ofmass is 515mm to the ground, mass of a single wheel is4.5kg ,diameter and width of the wheels are 330mm and200mm, wheeltrack is the same, and the wheelbase betweenfront-wheel and rear-wheel is also the same. During thesimulation the gravity acceleration is 9.8m/s2, the frictionalcoefficient is 0.5, and the velocity of the driving wheels is0.3rad/s. Figure 6(a) show the outline sizes of CJ-1, figure6(b) show the outline sizes of Rover.Figure 6(a) the outline sizes of CJ-1Figure 6(b) the outline sizes of RoverB. Simulation and comparisonIn the following simulation, the cab of CJ-1 is blue, andthe cab of Rover is green.Figure 5 Experiments of climbing blockThBT3.51751) Wheel Load equalityThe results: the load of CJ-1 is close to the one of Rover.2) Capability of climbing up the obstacles forwardThe heights of vertical obstacles are respective 135mm,137mm, and 280mm.The results: CJ-1 can climbup theheight of 280mm, andRover cant climb up the height of 137mm.3) Capability of climbing up the obstacles backwardTheheights ofvertical obstacles arerespective 95mm and97mm.The results: CJ-1 and Rover can get across the obstacleof 95mm, but neither can get across the obstacle of 97mm.4) Yaw angle of cab when acrossing obstacles forwardThe height of vertical obstacles is 135mm.The results: when acrossing the vertical obstacles of135mm, themaximum yawangleofCJ-1 is 6.7 and theoneof Rover is 8.7.5) Roll angle of cab when one side wheels acrossingobstacles forwardThe height of vertical obstacles is 135mm.The results: when acrossing the obstacles, the roll angleof CJ-1 is 2.4, and the one of Rover 3.3.6) Roll angle of cab when one side wheels acrossingobstacles backwardThe height of vertical obstacles is 95mm.The results: when acrossing the obstacles, the roll angleof CJ-1 is 5.8 and the one of Rover is 4.3.7) Capability of climbing up the slopeTheangles ofslopes arerespective25, 26, 27, and 28.The results: the two models are skidding at the slope of26-27.8) Capability of climbing down the slopeTheanglesofslopesarerespective25, 27, 29, 31, 33,and 35.ThBT3.5176The results: when climbing down, CJ-1 climbs down the31 slop and turn over at 33 slope, and Rover turns over at31 slope.9) Radial force at pivotWhen CJ-1 and Rover across the obstacle of 135 mm, thecurvesofradialforcesathingedpointsareshown in Figure7and 8. There are 7 hinged points in CJ-1, and two of thosepoints are same in forces, so there are 6 curves in Figure 7.There are 1 hinged point in Rover, so 1 curves in Figure8.Figure 7 Radial forces of pivots of CJ-1Figure 8 Radial force of pivot of RoverThe results: the maximum radial force of CJ-1 is 1800N,and the one of Rover is 850N.10) Lever torqueThe results: when being static or moving on thehorizontal ground, the maximum torques of CJ-1 andRocker are very close.VII. CONCLUSIONSThe positive and negative quadrilateral suspension is anewlydeveloped suspension system. Thetest and simulationresultsindicatethat theprototyperover with newsuspensionhas excellent capability to climb up obstacles, adapt terrain,travel smoothly, and keep the cab smooth, etc. China hasbeen determined tocarryout the lunar exploration project inthe near future. The proposed new type of suspension leversystem would provide valuable technical support to it.REFERENCES1 M.G. Bekker. Introduction to Terrain-Vehicle SystemsM.Michigan, USA.The University of Michigan,1969.2 Alex Ellery. Environmentrobot interactionthe basis forMobilityinplanetarymicro-roversJ.RoboticsandAutonomous Systems,2004,51:2939.3 Schenker, Baumgartner, Lindemann, Aghazarian, Ganino,Hickey.New Planetary Rovers For Long-Range Mars ScienceAnd Sample ReturnA.Proceedings of SPIEC. Boston,USA:1998.4 Fiorini.Ground mobility systems for planetary explorationA.IEEE International Conference on Robotics& Automation(ICRA00) C.SanFrancisco, USA: 2000.ThBT3.5177 Pro and con quadrangle suspension fork lunars performance analysis and simulation WangQiaoling Jilin Tonghua Teachersuniversity Tonghua,China; ? Guan Rongqiang China university of Mining and Technology, Xuzhou,China; Jilin Teachers Institute of Technology and Engineering, Changchun,China; Gu Dongdong Jilin Teachers Institute of Technology and Engineering, Changchun,China; AbstractIt is well known Moons surface is different with Earths surface, is opposite in Earths environment, Moons environment is quite bad,the surface is uneven. Walked for the lunar has brought inconveniently. Based on this kind of situation, we study the new steady line of pro and con quadrangle suspension fork lunars design, based on this idea, this article has carried on the analysis to lunars pro and con four distortion suspension fork, in view of the quadrangle and the counter-quadrangles good and bad points proposed that the pro and con quadrangle suspension fork, and carries on the simulation to its performance. Enables its better achieving to walk the sample goal on the Moon. Keywords-Lunar pro and con; quadrangle; simulation; ADAMS I. INTRODUCTION Completed along with the Chang E first phases victory with second phase start1, our country has started a round new high tide of lunar probing . how to carried on the survey fall the month later, how carries on the design, the lunar to the science survey carrier - - lunars structure and the performance how to survive on the Moon, has become the new difficult problem which the scientific researchers wanted to solve. The lunar resulted in the research already to have the very profound history, what put into the research first to the lunar was the former Soviet Union and American W.T.Huntress, et al.2003; B.K.Muirhead, et al.2004; Charles.R.Weisbin, et al.1997; Mark Willisamso- n, et sl.2002; Brain Harvey, et al.2007;A.L.Kemurdajian,1998)2,andwilldevelop successively the lunar delivers Moon3,4, with overseas compares the domestic lunar research to be quite late, was still at the start the condition. At present domestic has the Harbin Industry University, Shanghai Jiaotong University, the Chinese Science and technology Technology University to lunars key technologies and the prototypical researchs school. They not?only manufactured the lunar which and the foreign country was similar also to innovate advanced each kind of new theory. This article is complex in view on this kind of question as well as Moons special environment - - road surface, is distributing the size shape anomalous stone, the crater and the pitch; Month soil granularity size not standard, loose divergence inconsistent and so on question5. Carries on the concrete design to lunars body structure. Develops new based on the pro and con quadrangle suspension fork-like six lunar wheeled vehicles. II. LUNARS SYSTEM DESIGN This article elaborates what the lunar uses is mainly uses the pro and con quadrangle suspension fork to carry on the design. This lunar altogether has six wheels, the 2*3 distribution in nearby load platform two. In carries on the shuttle regarding the barrier small situation to the barrier, to large-scale is unable the shuttle barrier to carry on detours. Figure 1 is the pro and con quadrangle suspension fork lunar vehicle laboratory model, may very easy see on Figure 1 the pro and con quadrangle suspension fork the design model, the wheel and the load platform place the position. Figure 1. Pro and con quadrangle suspension fork lunar vehicle model 6044978-1-4244-8165-1/11/$26.00 2011 IEEE III. PRO AND CON QUADRANGLE SUSPENSION FORKS STATEMENT AND DESIGNS Because the rocking shaft type suspension fork Mars Rover already and has confirmed its feasibility after Mars test. Therefore this article designs the lunar as will use for reference take this kind of Mars Rover, according to lunar Mars differently its improvement. A. Alignment quadrangle counter-quadrangle analysis Rocky7 is the Mars Rover Sojourner improvement vehicle, its bogie turned a straight pole by the original bulges curved pole, changed in the Sojourner movement in certain degree the bogie stability not high question. But also reduced the bogie ground clearance in the change process, is the bogie is very easy with the barrier contact which must cross, jacked the suspension fork, is unable to surmount the barrier. If the reduction bogies straight pole length, may enhance the bogie the geometry to pass the nature, but like this will reduce the bogie the stability. From this may see, the bogie stability and the geometry pass the nature to restrict mutually, based on this kind of situation, according to the kinematics and mechanism principle, this article proposed one kind equates in Rocky7 and the Sojourner incline and the curving bogie organization - - quadrangle suspension fork. Figure 2, chart 3 respectively is the inclined curving bogie model and the quadrangle organization parametric model. Figure2. Inclines the curving bogie model Figure3. Quadrangle shape organization parametric model This quadrangle organization is composed of three members, altogether has 4 hinge points, two fork-shaped marks hinge contacts are the pick-up points. Installs the method with the bogie to install enables the corresponding member at other parts to circle the pick-up point to revolve freely. When quadrangle suspension fork like chart 4 parallel laying aside, its member and the corresponding bogie members length and the angle of tilt are equal, two kind of organizations have the same level path and the stressful condition, therefore, the quadrangle suspension fork can definitely replace the inclined curving bogie, and has the inclined curving bogie fine performance. The rocking shaft is the rocking shaft - - bogie another building block, to sharpen the main rocking shafts obstacle crossing ability, we proposed one kind of rocking shafts evolved organization - - counter-quadrangle organization. Enables it to achieve the optimized rocking shaft performance the goal. Figure 4. modle of rocking shaft Figure 5. parameter model of counter-quadrangle organization The counter-quadrangle organization has four hinge points, we used the dashed line in Figure 5 the help attachment point counter-quadrangle model, might very easy see the resonsideration distortion organization through this model the principle of work. Writes on the way has the hinge point that spot position pick-up point. Installs the method with the bogie to install enables the corresponding member at other parts the free rotation. B. Pro and con quadrangle suspension fork design Through the front analysis may very clear awareness, the quadrangle organization be possible to substitute for the bogie, the counter-quadrangle organization may substitute for the rocking shaft. Therefore this article unifies the quadrangle and the counter-quadrangle two kind of organization characteristics, proposed that one kind of new suspension fork - - pro and con quadrangle suspension fork, achieves the optimized suspension fork performance the goal. Figure 6 is the pro and con quadrangle suspension fork unilateral molded relief map. Figure 6 pro and con quadrangle suspension fork unilateral molded relief map 6045 The pro and con quadrangle suspension fork is composed of the six roots connecting rod and seven hinges, what the left side serial number 1, 2, 3, 4 four connecting rods constitute is the quadrangle organization, what the right side serial number is 4, 5, 6, 7 four connecting rods constitutes is the counter-quadrangle organization, seven serial number 1, 3, 7 connecting rods before the trailing wheel, round, line on the feet and palms of buddha separately the connection. It installs the way and the rocking shaft - bogie suspension fork is the same. IV. PRO AND CON QUADRANGLE ANALYSIS Establishes two kind of organization related member length and the angle is the same, the outside is also same to two organizations actions and the moment of force, in Figure 4, Figure 5 G is the load platform pressure, the action which and the moment of force, respectively 3 meets be the wheel bonds when two organization terminals receives, usually. The definition and respectively is two organization counterbalance moments. Two organizations crawl more ability relative strong and the weak to be possible to reflect through the contrast counterbalance moment that the counterbalance moment is bigger crawls ability to be stronger, otherwise crawls ability to be weaker. With may 4.1 and the type 4.2 indicated through the type: 3313143331)cos()tan()sin(LGTHHcLLFTfe+= 4.1 34333533312)()sin()sin()sin()sin()sin(LGLLFLTFHTfe+?+= 4.2 In the formula?fRFTf=33?fis the effective friction coefficient that the pressure generated by the friction wheel unit. In lunar environment10eTT?then quadrilateral is greater thanthe balance of the anti-torque arm torque balance. )()45sin(2)45sin(4331315LLfRHfRHL+=? 4.4 Therefore, after the suitable establishment values counter-quadrangle shape organization has strongly compared to the rocking shaft crawls ability. V. PRO AND CON QUADRANGLE SUSPENSION FORK PERFORMANCE SIMULATION ANALYSIS Founds the pro and con quadrangle suspension fork and the rocking shaft suspension fork model in ADAMS, for ease of explanation, hypothesis pro and con quadrangle suspension fork for model 1, rocking shaft suspension fork for model 2 ,Moves the system design request according to the Chinese lunar two model parameter data establishments is: Size: 1.5m*1.0m*0.8m, quality: 120kg, monowheel quality: 3kg, nature distance between centers month highly 0.5m, wheel diameter 0.3m, wheel rotational speed 6r/min, gauge 0.5m, around wheel base 1.2m, gravity acceleration 1.6m/s2. Gradual increases the model vehicle and the road surface friction coefficient in the simulation process, can crawl until the quadrangle rover jumps over the 250mm high vertical barrier. A. To pro and con four side good obstacle crossing ability simulation To the model 1, model 2 when surmounts the 250mm barrier the wheel friction force carries on the simulation, obtains the following chart 8 friction force and the time relations. By Figure 7 surmounts the process and Figure 7 the friction force and the time relational graph may see, when wheel contact barrier, wheels effective friction coefficient rises rapidly, and in a short time achieves in a big way, when the wheel lift-off starts lifts, the effective friction force starts the gradual slow drop, from this may infer, when the wheel occupies the contact barrier but lifts for the lift-off, the wheel crawls more is most difficult.? Figure 7 relations of modle 1 and modle 2 friction coefficient with time For the comparison model 1, model 2 obstacle crossing abilities, carries on the analysis to the chart curvature. May see 6046 by the curve relations, the model 1 the friction coefficient which needs in the entire obstacle crossing process must be smaller than a model, but needs friction coefficient. Therefore, model 1 ability must surpass the model 2 obstacle crossing abilities. Namely pro and con quadrangle shape suspension fork lunars obstacle crossing ability must surpass the rocking shaft - - suspension fork type lunars obstacle crossing ability. When obstacle crossing with platform stable analysis B. When obstacle crossing with platform stable analysis When lunar when through uneven road su

温馨提示:
1: 本站所有资源如无特殊说明，都需要本地电脑安装OFFICE2007和PDF阅读器。图纸软件为CAD,CAXA,PROE,UG,SolidWorks等.压缩文件请下载最新的WinRAR软件解压。
2: 本站的文档不包含任何第三方提供的附件图纸等，如果需要附件，请联系上传者。文件的所有权益归上传用户所有。
3.本站RAR压缩包中若带图纸，网页内容里面会有图纸预览，若没有图纸预览就没有图纸。
4. 未经权益所有人同意不得将文件中的内容挪作商业或盈利用途。
5. 人人文库网仅提供信息存储空间，仅对用户上传内容的表现方式做保护处理，对用户上传分享的文档内容本身不做任何修改或编辑，并不能对任何下载内容负责。
6. 下载文件中如有侵权或不适当内容，请与我们联系，我们立即纠正。
7. 本站不保证下载资源的准确性、安全性和完整性, 同时也不承担用户因使用这些下载资源对自己和他人造成任何形式的伤害或损失。

人人文库网所有资源均是用户自行上传分享，仅供网友学习交流，未经上传用户书面授权，请勿作他用。