行星轮式月球车车轮与地面间的动载荷分析  

Analysis of dynamic load between wheels of the planetary wheel lunar rover and ground

作　　者：高海波[1] 孟庆鑫 邓宗全[1] 方海涛[1] 陶建国[1] 胡明[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001 [2]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工业大学学报》2006年第4期523-527,共5页Journal of Harbin Institute of Technology

基　　金：国家自然科学基金资助项目(50375032)

摘　　要：为提高行星轮式月球车的行驶平顺性和操纵稳定性,尽量减小车轮与地面之间的相对动载荷,建立了七自由度月球车的振动系统模型,并给出了月球车振动系统的振动微分方程和频率响应函数的计算方法,在确定月球车的路面输入谱密度的基础上推导了车轮与地面之间相对动载荷均方根值的计算公式,用M at-lab软件进行编程和计算,确定了悬挂系统的扭杆弹簧刚度和减振器阻尼的合理数值范围.To improve the driving smoothness and stability of lunar rover and decrease the dynamic load between wheels and the ground, sets up vibration model for lunar rover with seven degrees of freedom, presents the calculation method for vibration differential equation and frequency response function, and derives the equation for the vertical dynamic deflection of the rover＇s suspension system based on the ascertaining of the rover＇s road surface＇s input spectral density. This paper determines the proper range of rigidity of torsion bar spring and damp of the rover＇s vibration absorber by means of Matlab programming.

关 键 词：月球车 动载荷 阻尼 刚度 

分 类 号：TH113.1[机械工程—机械设计及理论]