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为适应遥操作训练仿真的需要,研究了基于ADAMS的月球车虚拟样机仿真建模方法,提出了月球车仿真系统框架,建立了月球车本体三维模型,分析了各部件之间的相对运动关系,并对相对固定的部件进行了组合划分,为存在相对运动的部件采用运动副建立了约束关系模型,并采用驱动的方式为各部件的相对运动添加动力力矩。设计了一系列的实验验证太阳翼等活动机构对月球车运动过程中遥测参数仿真的影响。实验结果表明,提出的月球车虚拟样机模型实现了符合机械运动学特征的月面行走与探测仿真,为遥操作训练提供了逼真的训练数据。
In order to meet the need of teleoperation training simulation, the simulation modeling of lunar rover virtual prototyping based on ADAMS was studied. The lunar rover simulation system framework was put forward. The lunar rover ontology three-dimensional model was established and the relative motion between the components was analyzed. The relative fixed parts are divided and combined. The constraint relation model is established for the parts with relative movement by using motion pairs, and the driving method is used to add the dynamic moment for the relative movement of each part. A series of experiments have been designed to verify the influence of the solar wing and other moving mechanisms on the simulation of telemetry parameters during lunar rover movement. The experimental results show that the proposed lunar rover virtual prototype model realizes the lunar walking and probing simulation in accordance with the characteristics of mechanical kinematics, and provides lifelike training data for teleoperation training.