行星探测车连杆式差动平衡机构设计及运动学分析_程志红,魏毅龙.pdfVIP

行星探测车连杆式差动平衡机构设计及运动学分析 1 2 1 1 1 程志红 ，魏毅龙 ，牛辉 ，周春华 ，李中凯 （1. 中国矿业大学机电工程学院，徐州221116 ；2. 煤炭科学研究总院检测研究分院，北京 100013） 摘 要：根据行星探测车移动系统连接车体与左右两侧悬架的支撑机构的设计要求，提出一种对称的空间 连杆式差动平衡机构，合理的空间布置、较大的摇臂摆角范围和良好的线平均性使其在移动系统中的运用 取得较好效果。首先分析了机构的输入输出关系，给出车体与摇臂的位姿关系表达式。然后运用旋转变换 的方法建立该差动平衡机构车体与左右摇臂的俯仰角位移方程。再运用 Pro/Mechanism 仿真校验了理论模型 的正确性，并运用校验后的理论模型分析部分参数对该差动平衡机构摇臂摆角范围和线性均化特性的影响， 求解球铰连杆上下球面副相对主平面和在主平面内的转角范围，为机构的结构设计和装配提供了依据。最 后展示了该机构在 6 轮导杆联动式悬架上的运用。 关键词：行星探测车；差动平衡机构；移动系统；悬架 中图分类号：TP242 文献标识码：A 文章编号： Design and Kinematic Analysis of Differential-Balance Mechanism for Planetary Exploration Rover 1 2 1 1 1 Cheng Zhi-hong , Wei Yi-long , Niu Hui , Zhou Chun-hua , Li Zhong-kai （1. School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116，China; 2. Test Center of China Coal Research Institute, Beijing 100013 ，China ） Abstract ： By considering the design requirements of support-mechanism use to connect cab with each side sus- pension which use in mobile system of planetary exploration rover, this paper introduces a new type of differen- tial-balance mechanism. Proper space arrangement, larger rocker swing range and linear-average character result good effect in application this mechanism to mobile system. Input-output relationship was discussed first, and the specific position-pose expression between cab and rockers was given. Then pitch angle equation between cab and rockers is built up in the method of rotational transfer. Tests are followed by simulations in Pro/Mechanism to vali- date the rightness of theoretical model, and the model was used to evaluate linear-average character effects by par- tial parameters, and rotate angle range of the ball-li