六轮探测车可折展悬架方案评价及仿真分析  

The configuration evaluation and simulation analysis of a folded-deployed suspension for six-wheeled rovers

作　　者：陶建国[1] 杨飞[1] 邓宗全[1] 高海波[1] 张朋[1] 

机构地区：[1]哈尔滨工业大学机电工程学院机器人技术与系统国家重点实验室,哈尔滨150080

出　　处：《高技术通讯》2011年第9期941-947,共7页Chinese High Technology Letters

基　　金：863计划（2008AA04Z202）和高等学校学科创新引智计划（B07018）资助项目.

摘　　要：针对六轮探测车的四杆摇臂转向架（FLRB）型悬架，进行了折叠点的布置和折叠关节的类型组合方式研究，提出了7种折叠展开构型方案。采用模糊评价的理论和方法．建立了相应的评价模型及方案集和评价集，经过优选运算，确定了所提出的折叠展开构型中的最优方案。建立了基于所优选的悬架构成的探测车移动系统三维模型，用仿真软件ADAMS进行了仿真分析，得出对折叠展开性能有影响的关键构件的运动曲线和受力曲线。仿真结果表明，该悬架可以较平稳地展开，综合性能满足要求。The research on the arrangement of folding points and the combination of folding joints of a four-linkage rocker bogie（FLRB） suspension for six-wheeled rovers was conducted, and seven folded-deployed suspension configurations were put forward. The fuzzy evaluation theory and method were adopted to establish the corresponding evaluation model, the configuration set, and the evaluation set. An optimal folded-deployed configuration was obtained by optimization operation. Based on the optimal configuration, a three-dimensional locomotion model for rover systems was constructed and simulated by the ADAMS software, and correspondingly, the motion and force curves of the key components were achieved. The simulation results show that the optimal suspension can be deployed stably, and its comprehensive performance meets the demand.

关 键 词：六轮探测车 折叠可展悬架 构型综合 模糊评价 仿真分析 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]