8轮扭杆摇臂式月球车车轮与月面间动载荷分析  

Analysis on dynamic load between moon surface and cartwheel of eight wheeled torsion-bar rocker typed moon vehicle

作　　者：邓宗全[1] 邱雪松[1] 高海波[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

出　　处：《机械设计》2007年第11期33-37,共5页Journal of Machine Design

基　　金：国家自然科学基金资助项目(50375032)

摘　　要：对车轮与月面间的动载荷进行分析是为了改善月球车行驶平顺性和操纵稳定性。针对8轮扭杆摇臂式月球车结构特点,即每2个与同一摇臂连接的车轮所传递的月面不平度输入相互耦合,对月面不平度的激励进行了等效处理,得到了等效月面不平度函数,以此为基础建立了7自由度月球车振动模型及其振动微分方程。通过对振动微分方程进行傅立叶变换及运用Runge-Kutta数值分析方法进行求解,利用Matlab软件编程计算,确定了8轮扭杆摇臂式月球车悬挂系统的刚度与阻尼合理取值范围。Analysis on the dynamic load between moon surface and cartwheel was carried out for the sake of improving the smoothness and stability of operation for the travel of lunar vehicle. Aimed at the structural characteristics of the eight wheeled torsion-bar rocker typed lunar vehicle, namely the inputs of moon surface unflatness transmitted by every, two cartwheels connected on the same rocker are mutually coupled, an equivalent treatment on the excitation of the lunar surface unflatness was carried out and the function of equivalent unflatness of moon surface was obtained. Taking this as a foundation the vibration model of moon vehicle with seven degree of freedoms and its vibration differential equation were established. By means of carrying out Fourier transformation on the vibration differential equation and using the Runge-Kutta numerical value analytical method to carrying out the solution, and utilizing the programming calculation of Matlab software, the reasonable range of value adoption for rigidity and damping of the eight wheeled torsion-bar rocker typed suspension system of the lunar vehicle was determined.

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]