Analysis of climbing obstacle capability of lunar rover with planetary wheel
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摘要: 为确定行星轮式月球车的垂直越障能力,通过简化力学模型,给出了两个前轮同时越障、两个后轮同时越障和单个车轮越障这3种情况下行星车轮可以爬过的垂直障碍高度与车辆参数之间的关系,同时给出该车可以越过的最大垂直障碍高度.并且用ADAMS软件对这3种情况进行了仿真分析.仿真分析表明,理论推导结果是可靠的.Abstract: For determination of perpendicular climbing obstacle capability of lunar rover with planetary wheel, based on simplified mechanics model of rover the paper gives the relations between rover parameters and perpendicular climbing obstacle height under three conditions: simultaneously climbing obstacle by two front wheels, simultaneously climbing obstacle by two rear wheels and climbing obstacle by single wheel. Then maximum perpendicular climbing obstacle height of this rover is calculated. Simulation analysis to above three conditions by ADAMS is done. The simulation analysis gives conclusion that theory inference result is reliable.
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Key words:
- lunar vehicles /
- planetary wheel /
- climbing obstacle capability /
- simulation
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