具有月面适应性的月球车着陆释放机构  

Rover Landing Unloading Mechanism with Lunar Surface Adaptability

作　　者：李奎[1,2] 刘荣强[1,2] 姜生元[1,2] 邓宗全[1,2] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150001 [2]哈尔滨工业大学机电工程学院,哈尔滨150001

出　　处：《西安交通大学学报》2011年第9期28-33,共6页Journal of Xi'an Jiaotong University

基　　金：国家自然科学基金重点资助项目(60935002);高等学校学科创新引智计划资助项目(B07018);哈尔滨工业大学机器人技术与系统国家重点实验室自主研究课题(SKLRS200802C)

摘　　要：为了提高月球车着陆释放机构对各种复杂环境的适应性,综合了不同释放环境后给出了具有代表意义的极限释放环境.根据极限释放环境和释放过程对释放机构的运动要求,通过建立释放机构D-H矩阵,采用运动轨迹规划方法,得出了摇臂式释放机构的运动规律曲线;按照该运动规律曲线,引入不完全轮系作为传动约束,设计了分段渐倾式、摇臂式释放机构.实验结果表明,在月球车释放过程中,释放机构实测运动规律与理论运动规律吻合较好,在极限俯仰、极限侧倾和存在石块的释放环境下,该释放机构均能顺利完成月球车释放任务.To improve the unloading mechanism adaptability under all complex conditions,some representative extreme conditions are synthesized in different unloading situations.Analyzing the requirements of the extreme conditions and unloading progress,the movement rule of rocker-arm style unloading mechanism is found with movement track layout method to construct an unloading mechanism D-H matrix,and a art flexible rope transmission is considered as the restriction to obey the movement rule.Thus,a sub-sectioned gradual incline rocker-arm style unloading mechanism is designed.The experiments show that the actually measured movement rule coincides with the theoretical one very well in lunar rover unloading,and the lunar rover unloading can be completed for extreme pitching and extreme rolling,and on stone-spread ground.

关 键 词：着陆器 月球车 释放机构 月面适应性 

分 类 号：V476.3[航空宇航科学与技术—飞行器设计]