一种新型复合构型月球车的越障特性分析  

Analysis of Over-obstacle Characteristic of a New Complex Structure Lunar Rover

作　　者：程刚[1] 杨杰[1] 柴洪友[2] 孙京[2] 

机构地区：[1]中国科学技术大学精密仪器及机械系,合肥230026 [2]北京空间飞行器总体设计部,北京100094

出　　处：《航天器工程》2007年第6期39-45,共7页Spacecraft Engineering

基　　金：国家863高技术研究发展计划项目(项目编号:2001AA422410);总装备部预先研究专题项目(项目编号:02422010401032)

摘　　要：将轮式、腿关节式、履带式三种机构结合起来设计了一种月球车,此车对低重力条件下的月球表面实际环境具有良好的适应性。月球车在起伏不平的地表环境中具有独特的动态特性,通过对月球车障碍地形下的越障运动过程进行理论建模和数值仿真,进而建立虚拟样机模型进行动态仿真对比研究,分析了月球车的越障特性,验证了机构设计的有效性。A lunar rover is designed by combining the mechanism of leg, wheel and track, so it can well adapt to real lunar surface of low-gravity. The lunar rover has special kinetic characteris- tic in uneven terrain. The theoretical model and numerical simulation of movement process of the lunar rover over-obstacle course has been presented. In comparison with the theoretical model, a virtual prototype model has also been built to carry out dynamic simulation, and the over-obstacle characteristic of this lunar rover is analyzed. The results verify the efficiency of the mechanism design.

关 键 词：月球车 障碍地形 运动模型 虚拟样机 

分 类 号：V476.3[航空宇航科学与技术—飞行器设计]