月球车六轮摇臂转向架的优化设计  

Optimal Design of Lunar Rover's "Rocker-Bogie" Suspension

作　　者：常勇[1,3] 王洪光[1] 马书根[1,2] 谈大龙[1] 

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [2]日本立命馆大学机器人系,日本滋贺525-8577 [3]中国科学院研究生院,北京100039

出　　处：《机械设计》2010年第6期64-70,共7页Journal of Machine Design

摘　　要：研究了月球车六轮摇臂转向架机构的优化设计问题。在分析了月球车移动机构行走及越障等任务要求的基础上,提出了摇臂转向架机构的性能评价指标,包括4个方面。针对性能评价指标,对月球车摇臂转向架机构进行了多目标优化设计。仿真实验表明采用优化设计得出的机构参数可以有效地提高月球车移动机构的行走及越障性能,为车体的机构系统设计提供理论依据。The optimal design problems of the lunar rover with the called ＂Rocker-Bogie＂ suspension was introduced in this paper.Based on the analysis of the traveling mechanism and obstacle-navigation task requirements of the rover,the performance evaluating indicators of Rocker-Bogie was proposed,and four aspects are included.For the performance evaluating indicators,the multi-targets optimal design for the Rocker-Bogie has been carried out.The simulation results show that the mechanism parameters achieved from the optimal design can improve the traveling mechanism and the obstacle-navigation performance of the lunar rover effectively,providing the systematical design of the rover body with theoretical basis.

关 键 词：月球漫游车 摇臂转向架 悬架机构 优化设计 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]