一种扭转式载人月球车及其高速移动性能研究  

Research on a Torsional Manned Lunar Rover and its High Speed Mobility Performance

作　　者：马龙宇 王慎泉 蒋松 付宏文 张崇峰 时军委[1,2] MA Longyu;WANG Shenquan;JIANG Song;FU Hongwen;ZHANG Chongfeng;SHI Junwei(Aerospace System Engineering Shanghai,Shanghai 201109,China;National Defense Key Laboratory of Space Structure and Mechanism Technology,Shanghai 201109,China;Astronauts Research and Training Center,Beijing 100094,China;Shanghai Academy of Spaceflight Technology,Shanghai 201109,China)

机构地区：[1]上海宇航系统工程研究所,上海201109 [2]空间结构机构技术国防重点实验室,上海201109 [3]中国航天员科研训练中心,北京100094 [4]上海航天技术研究院,上海201109

出　　处：《宇航学报》2023年第9期1392-1400,共9页Journal of Astronautics

基　　金：国家自然科学基金联合基金(U21B6002)。

摘　　要：针对阿波罗载人月球车在崎岖月面行驶车身晃动幅度过大,车轮离地时有发生的问题,分析月面地形路谱对车身纵向、横向以及对角车轮跳动差的需求,在总结月球车、火星车以及地面车辆提高接地性措施的基础上,提出一种前后车身可相对扭转的载人月球车,通过相对扭转对车轮跳动进行补偿。仿真对比了两种载人车在不同路面下的高速移动能力、平顺性、通过性以及稳定性,对比研究表明:该扭转式载人车在交叉正弦路面具有更高的行驶速度,在随机路面同等行驶速度下具有更高的平顺性,在低速越障、过坑能力等方面也具有明显优势,车身扭转自由度明显增加了载人月球车对崎岖路面的适应性。Aiming at the problem that the suspension travel of manned lunar rover does not meet the needs of the runout differences of the rugged lunar surface,the requirements of the lunar terrain road spectrum on the body’s longitudinal,transverse and diagonal wheel runout are analyzed.Based on the summary of measures to improve the grounding performance of lunar rovers,Mars rovers and ground vehicles,a manned lunar rover with reversible body is proposed,and the wheel runout is compensated by relative torsion.Simulations are conducted to compare the high-speed mobility,ride comfort,passability and stability of the two manned vehicles on different road surfaces.The comparative study shows that the proposed reversible vehicle has higher driving speed on crossed sinusoidal road surface,higher ride comfort on random road surface at the same driving speed,and has obvious advantages in low speed obstacle crossing and pothole crossing ability.The torsional freedom of the vehicle body significantly increases the adaptability of the wheel to the rugged road surface.

关 键 词：载人登月 月球车 车身扭转 越障 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]