主被动结合式月球车悬架设计  

Design of lunar rover with combination of active/passive suspension

作　　者：苏波[1,2] 江磊[2] 杨树岭[2] 卢国轩[2] 

机构地区：[1]华中科技大学,武汉430074 [2]中国北方车辆研究所,北京100072

出　　处：《机械设计与制造》2011年第5期15-17,共3页Machinery Design & Manufacture

基　　金："十一五"兵器开发基金项目(2005-2010)

摘　　要：月球车采用遥操作或半自主的移动方式,这种方式潜在的问题是对于周围环境信息收集十分有限,从而使月球车面临若干因地形起伏不平而隐蔽的不可通过障碍物,造成重心失稳,并导致倾覆,进而使其面临危险。如何提高地形适应能力是月球车移动系统设计考虑的首要问题,通过对自主研制的FDTM型月球车行走系统的优化设计,提出一种新型主被动结合的月球车悬架方案,方案采用空间三点支撑结构,通过两个支撑点动态调节即可实现三自由度姿态调整,使月球车在未知环境下的行驶稳定性和抗倾覆性显著提高。Lunar rover is usually moved by remote or semi-autonomous way,which potential problems is its limit for collectiing information surrounding environment.Since the rover is facing many obstacles,which could not be found for their terrain.As the center of gravity deviation occurs,lunar rover will be zero gravity,which may lead to overturning of the lunar rover.Therefore,the main problem we have to consider should be how to enhance its ability to adapt to the terrain.By optimizing design for FTDM mode travel system,a new combination of active and passive suspension of the lunar rover is developed,in which spatial three-point suspension support structure is proposed,by adjusting two of the support points dynamically to achieve three degrees of freedom.Thus the travel stability and anti-overturning stability is improved significantly under unknown environment.

关 键 词：月球车 行驶稳定性 铰接式悬架 平衡悬架 

分 类 号：TH16[机械工程—机械制造及自动化]