摘要
为适应遥操作训练仿真的需要,研究了基于ADAMS的月球车虚拟样机仿真建模方法,提出了月球车仿真系统框架,建立了月球车本体三维模型,分析了各部件之间的相对运动关系,并对相对固定的部件进行了组合划分,为存在相对运动的部件采用运动副建立了约束关系模型,并采用驱动的方式为各部件的相对运动添加动力力矩。设计了一系列的实验验证太阳翼等活动机构对月球车运动过程中遥测参数仿真的影响。实验结果表明,提出的月球车虚拟样机模型实现了符合机械运动学特征的月面行走与探测仿真,为遥操作训练提供了逼真的训练数据。
To implement the requirements of training and simulation for the teleoperation of lunar rover, the methods of modeling lunar rover is studied in the simulation of virtual prototype on ADAMS, a framework was proposed for the simulation system of lunar rover, the 3D-ontology model of virtual prototype was given, the relative relations were analyzed among parts, and relatively fixed parts were partitioned by combining. The constraints relations were modeled by kinematics pair, and the dynamics moment in the motions were added for the relative moving of parts. A series of experiments were designed to validate that the simulation of telemetering parameters was affected by the activity mechanism, such as solar arrays, in the move and exploration progresses of lunar rover. The results of experiments show that the virtual prototype of lunar rover can simulate exploration, and give the vivid data for teleoperation the kinematics characteristic of its movement and training.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2016年第11期2701-2708,共8页
Journal of System Simulation
关键词
月球车
本体模型
约束关系
训练仿真
ADAMS
lunar rover
ontology model
constraint relative
training simulation
ADAMS
