摘要
为提高探测车的越障性能,在已有六轮摇臂式月球探测车的准静力学模型的基础上,分别建立了探测车两个前轮、中轮和后轮单独爬越垂直障碍的准静力学模型,并将越障过程中的摇臂摆角引入模型。以此模型为基础、以最大越障高度为目标函数,对探测车的摇臂式悬架尺寸进行优化,实现探测车越障性能的提高。利用Adams对优化结果进行仿真验证,验证准静力学模型准确性和优化结果的正确性。
For the improvement of climbing obstacle trafficability of lunar rover,a quasi-static force model for rocker lunar rover when rear wheel,middle wheel and rear wheel climbing up vertical obstacle respectively was built based on former model.Rotating angles of rockers were draw into the model.An optimization of suspension's dimensions was carried out based on the new model,of which objective function was the max climbing height of vertical obstacle.The improvement of climbing obstacle trafficability was achie...
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2008年第2期420-425,共6页
Journal of Astronautics
关键词
月球探测车
摇臂式悬架
越障性能
优化设计
Lunar rover
Rocker suspension
Climbing obstacle capability
Optimal design
