月球车连杆式差速平衡机构的运动学分析  

Kinematics analysis of differential bar linkage on lunar rover

作　　者：陶建国[1] 邓宗全[1] 高海波[1] 胡明[1] 王锋[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：《哈尔滨工业大学学报》2009年第9期21-26,共6页Journal of Harbin Institute of Technology

基　　金：国家高技术研究发展计划资助项目(2008AA04Z202);高等学校学科创新引智计划资助项目(B07018)

摘　　要：为了提高月球车运动时车体平稳性和车轮承力平衡性,设计了连杆式差速平衡机构,利用ADAMS软件建立了该机构的三维仿真模型,对其进行了运动学建模、计算和运动仿真,分别获得了机构主要构件运动计算数据曲线和运动仿真曲线,对比验证了建立的运动学模型的正确性和设计的差速平衡机构对车体运动平稳性的作用,样机实验结果与理论计算及仿真结果较好吻合,进一步验证了分析方法和结论的正确性.To improve the body stability and force balance on wheels of a lunar rover, a differential bar linkage was designed and the 3-dimensional simulation model of this mechanism on lunar rover was established by software ADAMS. The kinematics equations of the mechanism on a lunar rover model were given, and the calculation was carried out and contrasted with simulation. The results validate the correctness of the kinematics model and the mechanism＇ s contribution to rover locomotion stability. Experimental results of a mechanism prototype on a rover agree well with the calculation and simulation results.

关 键 词：空间连杆机构 差速机构 运动学分析 运动学仿真 

分 类 号：TH113.2[机械工程—机械设计及理论]