六轮探测车折叠可展悬架设计与分析机械设计及理论专业论文.docxVIP

哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 Abstract As one of important components of rover locomotion system, the suspension not only supports the rover and payload but also distributes the load to every wheel. Light mass, small volume and compact structure becomes one of main technical index of rover in researching period. Based on the Four-linkage Rocker Bogie(FLRB)suspension of six-wheeled rover, the arrangement of folded points and joint types are discussed, and many folded- deployed suspension configurations are put forward. In order to evaluate these suspension configurations, fuzzy evaluation theory and method is adopted to establish a evaluation module, evaluation model and configuration collections. The folded-deployed performance evaluation weight matrix is calculated, and the best folded-deployed configuration is obtained by optimization. Based on the best configuration, three-dimensional model of locomotion system is constructed, and simulated in ADAMS software, correspondingly, motion and force curve of key components is achieved. The simulation results show that the suspension can deploy stably, and its comprehensive performance meets the demand. Choosing firstly structure parameters of rover based on choosed configuration. Kinematics model has been built up, kinematics analysis of rover has been completed based appropriate consumption and applying coordinate transformation matrix, and Jacobi matrix of body position is got. A example analysis of choosed suspension configuration is given by applying the theory. Establishing the suspension statics equations when the rover is in deploying or working state, and the forces that ground acting to six wheels and the forces acting between the linkages are obtained. These forces provide technical support for structure design. The length of suspension poles is optimized, sensitive designing variables is confirmed and confirming method of ending value of multi-optimized value variable also is given. The article introduces