低重力补偿下六轮独立驱动月球车的运动分析  

Kinematic analysis of lunar rovers in a low gravity experimental environment

作　　者：董玉红[1] 邓宗全[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：《哈尔滨工程大学学报》2009年第1期67-72,共6页Journal of Harbin Engineering University

基　　金：国家自然科学基金资助项目(50275032);中国博士后基金资助项目(20070420867)

摘　　要：为了在地球上模拟月球表面的低重力环境,需要对月球车进行重力补偿.提出了吊丝式双天车结构的重力补偿方案,确定了月球车在崎岖路面上行进的质心域,分析了低重力下吊丝倾角和质心变化对车轮垂直载荷的影响,绘制了车轮垂直载荷的仿真曲线,完成了低重力补偿下月球车的运动分析.研究结果表明,吊丝倾角越小,月球车的质心变化域越小,则因低重力补偿引起的月球车运动波动越小.该研究为月球车低重力实验环境的建立、月球车移动子系统的功能测试和可靠性实验奠定了理论基础.In order to simulate the low gravity environment of the lunar surface on the earth, the gravity experienced by the lunar rover must be compensated for. Gravity compensation was provided with a configuration of silk straps hung from two bridges. The zone of the center of mass was determined when the lunar rover moves on uneven terrain. Changes in the vertical loads on wheels from lower gravity were simulated by the tilt angle of the silk, and the influence on loads of changes in the center of mass was analyzed. Simulation curves for vertical loads on the wheels were produced. Then motion analysis for the lunar rover in low gravity was carried out. The study results illustrate that the smaller the tilt angle of the silk, the smaller the zone of the center of mass of the lunar rover, and the smaller the wave of motion resulting from low gravity compensation. This paper gives a theoretical basis for constructing a low gravity experimental environment for functional testing of motion subsystems and reliability experiments with lunar rovers.

关 键 词：月球车 低重力 质心域 运动分析 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]