Design and performance simulation of a new type wheel with claws
-
摘要: 针对当前行星探测车车轮的缺点和不足,结合行星表面的复杂环境,设计了一种新型轮爪式行星探测车车轮,其主要创新点在于车轮的轮爪.对新型车轮进行了受力分析,推导出车轮平稳运动的条件,为设计者提供了一定的理论依据.用Pro/ENGINEER软件建立了探测车的三维模型,并用ADAMS(Automatic Dynamic Analysis of Mechanical Systems)软件对行星车进行了运动学和动力学仿真.仿真结果表明新型车轮具有较强的越障能力,可以翻越高度超过车轮半径1.4倍的台阶,也可以跨越宽度超过车轮直径的壕沟,能够适应各种地形环境,基本克服了当前行星探测车车轮存在的缺点和不足.Abstract: Aiming at the disadvantages of current planetary rover wheel, a new type climbing obstacle wheel with claws was designed according to the complex planetary surface environment. Its main innovation is the claw on wheel. Mechanics analysis of the new type climbing obstacle wheel was computed, and the steady running condition was deduced. It offered designers several theory foundations. A three-dimensional planetary rover model with the new type climbing obstacle wheels was built by Pro/ENGINEER software, and kinematic and dynamic simulation of the wheel was given by ADAMS(automatic dynamic analysis of mechanical systems) software. The simulation results show that the new type wheel has strong crossing obstacle capabilities. It can scale the step whose height is 1.4 times than the wheel radius, and can adapt itself to all kinds of rough and uneven terrain environment. The new type wheel overcomes disadvantages and shortages of current rover wheels.
-
Key words:
- planetary rover /
- crossing obstacle /
- wheel /
- simulation
-
[1] 李翠兰,马培荪,高雪官,等.一种新型的可被动适应崎岖表面的六轮月球漫游车[J].传动技术,2005,19(1):9-13 Li Cuilan, Ma Peisun, Gao Xueguan, et al. A new six-wheel lunar robot for uneven surface[J]. Drive System Technique, 2005,19(1):9-13 (in Chinese) [2] Kubota T, Kuroda Y, Kunii Y, et al. Small, light-weight rover "Micro5" for lunar exploration[J]. Acta Astronautica, 2003, 52: 447-453 [3] 刘方湖,陈建平,马培荪,等.行星探测机器人的研究现状和发展趋势[J].机器人,2002,24(3):268-275 Liu Fanghu, Chen Jianping, Ma Peisun, et al. Research status and development trend towards planetary exploration robots [J]. Robot, 2002,24(3):268-275 (in Chinese) [4] 邓宗全,高海波,胡明,等.行星越障轮式月球车的设计[J].哈尔滨工业大学学报,2003,35(2):203-213 Deng Zongquan, Gao Haibo, Hu Ming, et al. Design of lunar rover with planetary wheel for surmount obstacle[J]. Journal of Harbin Institute of Technology, 2003,35(2):203-213 (in Chinese) [5] 邓宗全,高海波,王少纯,等.行星轮式月球车的越障能力分析[J].北京航空航天大学学报,2004,30(13):197-201 Deng Zongquan, Gao Haibo, Wang Shaochun, et al. Analysis of climbing obstacle capability of lunar rover with planetary wheel[J]. Journal of Beijing University of Aeronautics and Astronautics, 2004,30(13):197-201 (in Chinese) [6] Roston G P. Lunar rover for scientific and entertainment missions[J]. Acta Astronautica, 1995, 35:397-405 [7] Sasaki S, Kubota T, Okada T, et al. Scientific exploration of lunar surface using a rover in Japanese future lunar mission [J]. Adv Space Res,2002,30(8):1921-1926 [8] 张建民.机电一体化系统设计[M].北京:北京理工大学出版社,1996 Zhang Jianmin. Mechano-electronic integrated system design[M]. Beijing: Beijing Institute of Technology Press, 1996(in Chinese)
点击查看大图
计量
- 文章访问数: 2958
- HTML全文浏览量: 107
- PDF下载量: 1092
- 被引次数: 0