论文部分内容阅读
根据半转机构原理,设计了一种新型的轮腿式月球探测车,其移动机构由车体支架、4个结构相同的轮腿及转向支架3部分构成。轮腿采用二级半转机构,由电机独立驱动和转向,通过2个串联的行星轮系来传递驱动力矩。并从路面适应性、转向灵活性、车身起伏度、地面几何通过性、抗侧倾能力和垂直越障能力等方面分析了该月球探测车的移动性能。分析表明,该探测车适合在高低起伏的月球表面环境行走。
According to the principle of half-turn mechanism, a new type of wheel-leg lunar rover is designed. Its moving mechanism consists of the body support, the four wheel legs with the same structure and the steering support 3 parts. Wheel legs with two half-turn institutions, independently driven by the motor and steering, through two tandem planetary gear train to transmit the driving torque. The performance of the lunar rover is analyzed from the aspects of road surface adaptability, steering flexibility, vehicle body undulation, ground geometry passing, anti-roll ability and vertical obstacle crossing capability. Analysis shows that the rover is suitable for walking on the surface of the lunar surface.