摘要
简要介绍了变质心月球车(CMR-1)的设计要求和机械结构,并基于地面力学的知识,从分析月球车轮地接触力学特性入手,对变质心月球车行走过程中车轮下陷量、运动阻力和牵引力等进行了分析。通过对移动性能的分析,得到了构型参数(车轮参数、质心位置)和地形参数与下陷量、运动阻力、牵引力等性能参数间的关系曲线,给出了月球车车轮、质心位置和轮距等构型参数的设计原则,论证了质心对于月球车移动性能的重要性。最后对变质心月球车进行了仿真分析,验证了其优越的越障性能。
The design requirement and mechanism of Lunar Rover with Center of Mass Varied（CMR-1） are briefly introduced.Based on the characteristics of wheel-soil interaction mechanics,the wheel sinkage,stability margin,motion resistance and drawbar pull of lunar rover in forward mothion are analyzed using terramechanics theory.From the mechanics analysis,the relationships between the configure parameters（such as the wheel parameters and the position of mass center） and the mobility performane indexes（such as the wheel sinkage,motion resistance and drawbar pull） are obtained.The design principles of the wheel parameters,position of mass center and the wheel space are given.It is demonstrated that the mass center is crucial to the mobility performance of the lunar rover.Simulation verifies that the CMR-1 is superior in obstacle-surmounting performance.
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2009年第6期1573-1578,共6页
Journal of Jilin University:Engineering and Technology Edition
基金
国家自然科学基金项目(50375032)
高等学校学科创新引智计划(B07018)
'863'国家高技术研究发展计划项目(2006AA04Z231)
关键词
机械设计
移动性能
月球车
变质心
轮地接触
地面力学
mechanical design
mobility performance
lunar rover
changing mass center
wheel-soil interaction
terramechanics
