关于变质心在四轮月球车上应用的研究  

The research on application of changing center of mass to lunar rover with four wheels

作　　者：张朋[1] 邓宗全[1] 胡明[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,哈尔滨150001

出　　处：《机械设计与制造》2006年第1期121-123,共3页Machinery Design & Manufacture

摘　　要：基于变质心想法,提出了新型变质心月球车构想。为确定变质心在四轮月球车应用的可行性,通过对月球车进行越障性能的理论分析,分别建立了该月球车两前轮、两后轮、单个前轮、单个后轮四种情况下越障的数学模型,通过对其进行求解,给出了四种情况下月球车越障高度和车辆几何参数间的关系;分析了变质心对车辆越障性能的影响,最后对其进行了仿真验证,结果表明了变质心月球车越障的优越性。Based on the thought of changing centre of mass, new pattern Lunar Rover with Center of Mass Varied is put forward. In order to determine the feasibility of application of changing centre of mass to lunar rover with four wheels, based on theoretical analysis of surmounting obstacles capability of lunar rover, surmounting obstacles mathematics models of two front wheels, two rear wheels, single front wheel and single rear wheel have been established, then the relations between the height of obstacles the lunar rover can surmount and vehicle geometry parameters are given in these kind of conditions by solving them; It analyzes the influence of center of rover mass to the rover surmounting obstacles and confirms it by simulation. The resuls indicate the advantage of Lunar Rover with Center of Mass Varied in surmounting obstacles.

关 键 词：变质心 月球车 越障能力 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]