中国机械工程 ›› 2011, Vol. 22 ›› Issue (5): 550-556.

• 机械基础工程 • 上一篇    下一篇

主动摆臂四轮菱形月球车移动系统越障性能分析与优化

马传帅1;文桂林1;钟志华1;金秋谈1;程栋2;周景宇1
  

  1. 1.汽车车身先进设计制造国家重点实验室,长沙,410082
    2.湖南大学,长沙,410082
  • 出版日期:2011-03-10 发布日期:2011-03-24

Analysis and Optimization of Climbing-capability of Four-wheel-rhombus-arranged Mobility System

Ma Chuanshuai1;Wen Guilin1;Zhong Zhihua1;Jin Qiutan1;Cheng Dong2;Zhou Jingyu1
  

  1. 1.State Key Laboratory of Advanced Design and Manufacture for Vehicle Body,Changsha, 410082
    2.Hunan University,Changsha, 410082
  • Online:2011-03-10 Published:2011-03-24

摘要:

提出了一种用于月球车的主被动结合的摇臂式移动系统。该移动系统将四个主动摆臂和一个被动连接铰整合在一起,从而提高了越障性能。建立了越障性能的力学判断准则,并利用此准则对移动系统的越障性能进行了分析;考虑主动摆臂的可调整性能,研究了主动摆臂对移动系统越障性能的影响,并基于遗传算法对越障性能进行了优化。对摆臂角度优化的结果表明,主动摆臂可以显著提高移动系统在恶劣环境下的越障性能。

关键词:

Abstract:

A newly developed four-wheel-rhombus-arranged mobility system for lunar rover was presented. To improve the climbing-capability, the independent active swing arms were integrated with the passive rotary link structure in the mobility system. In order to investigate the climbing-capability, the mechanical judging criterions were put forward based on quasi-static analysis method of the mobility system. The climbing capability of the mobility system was analyzed using the criterions. Due to the adjustment of the swing arms, the influences of swing arms on the climbing-capability were studied. Furthermore, the climbing capability was optimized based on the genetic algorithm method. The results indicate that the climbing capability can be greatly improved in the severe environment.

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