基于地面力学的变质心月球探测车移动性能.pdf

第39 卷 第6 期 ( ) Vol. 39 No. 6 2009 年 11 月 Journal of Jilin University (Engineering and Tec nology Edition) Nov. 2009 基于地面力学的变质心月球探测车移动性能 , , , (哈尔滨工业大学 宇航空间机构及控制研究中心, 哈尔滨 150080) : 简要介绍了变质心月球车(CMR21) 的 计要求和机械结构, 并基于地面力学的知识, 从分析月球车轮地接触力学特性入手, 对变质心月球车行走过程中车轮下陷量、运动阻力和牵 引力等进行了分析。通过对移动性能的分析, 得到了构型参数( 车轮参数、质心位置) 和地形参 数与下陷量、运动阻力、牵引力等性能参数间的关系曲线, 给出了月球车车轮、质心位置和轮距 等构型参数的 计原则, 论证了质心对于月球车移动性能的重要性。最后对变质心月球车进 行了仿真分析, 验证了其优越的越障性能。 :机械 计; 移动性能; 月球车; 变质心; 轮地接触;地面力学 :TP24 :A : 167125497(2009)0621573206 Mobility performance analysis of lunar rover with center of mass varied based on the theory of terramechanics ZHANG Peng, DENG Zong2quan, HU Ming, GAO Hai2bo (Research Center of Aerospace Mechanism and Control , H arbin Institate of Technology , H arbin 150080, China) Abstr act: T e design requirement and mec anism of Lunar Rover wit Center of Mass Varied ( CMR2 1) ar e br iefly introduced. Based on t e c aracteristics of w eel2soil interaction mec anics, t e w eel sinkage, stability margin, motion resistance and drawbar pull of lunar rover in forward mot ion are analyzed using terramec anics t eory. From t e mec anics analysis, t e relations ips between t e configur e parameters (suc as t e w eel parameter s and t e position of mass center) and t e mobility performane indexes (suc as t e w eel sinkage, motion resistance and drawbar pull) are obtained. T e design principles of t e w eel par ameters, position of mass center and t e w eel space are given. It is demonstrated t at t e mass center is crucial to t e mobility performance of t e lunar rover. Simulation verifies t at t e CMR21 is superior in obstacle2surmounting performance. Key words: mec anical design; mobility performance; lunar rover;