中国机械工程 ›› 2008, Vol. 19 ›› Issue (24): 2926-2929.
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余晓流;骆辉;夏伟
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Yu Xiaoliu;Luo Hui;Xia Wei
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摘要：
针对月球探测的特点，提出了一种新型的基于半转机构的月球车移动系统，介绍了其特点以及机构原理。比较了一级半转机构和二级半转机构的起伏度，建立了月球车机构转杆正向运动学模型。MATLAB仿真结果表明，二级半转机构的起伏度较一级半转机构减小60%左右。
关键词: 月球车, 半转机构, 起伏度, 运动学
Abstract:
A new type of mobile system based on half-rotating mechanism was introduced according to the characteristics of the lunar exploration.It was introduced the characteristics and mechanism principles,compared the undulation of one-level half-rotating mechanism to that of two-level half-rotating mechanism, and derived the solution of the forward kinematics of the leg of the lunar rover.The result shows that the undulation of the lunar rover based on two-level half-rotating mechanism is about 60% lower than that of the lunar rover based on one-level half-rotating mechanism.
Key words: lunar rover, half- rotating mechanism, undulation, kinematics
中图分类号:
TP1
余晓流, 骆辉, 夏伟, . 基于半转机构的月球车移动系统及运动学分析[J]. 中国机械工程, 2008, 19(24): 2926-2929.
Yu Xiaoliu, Luo Hui, Xia Wei. Mobile System of Lunar Rover Based on Half-rotating Mechanism and Its #br# Kinematics[J]. China Mechanical Engineering, 2008, 19(24): 2926-2929.
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