月球车差动平衡机构的建模及仿真

车体平衡机构是摇臂悬架式月球车移动系统的重要组成部分,起到调节摇臂悬架运动和受力,减小主车体因地形变化所受的扰动作用.基于轮系式月球车车体差动平衡机构的结构设计,综合考虑了轮齿啮合刚度、摇臂轴扭转变形及齿轮传动回差的影响,建立了虚拟样机模型,在ADAMS软件环境下进行了动态仿真分析,得出该机构的动态特性,为该机构的改进及其在月球车上的实际应用提供了参考依据.

Modeling and simulation on the differential balancing mechanism of lunar rover

The balancing mechanism of vehicle body is an important constitution part of displacement system of rocker hanging frame styled lunar rover,which takes effects on adjusting the movement and force bearing of rocker hanging frame and reducing the turbulence acted on the main vehicle body due to topographical variation.Based on the structural design of differential balancing mechanism in the vehicle body of gear train typed lunar rover,this paper established the model of virtual prototype with a synthetic consideration on the influences of meshing rigidity of gears,torsional deformation of rocker shaft and transmission backlashes of gears.Dynamic simulative analysis was carried out under the environment of ADAMS software and obtained the dynamic characteristics of this mechanism,thus provided referential basis for the improvement of this mechanism and its practical application in the lunar rover.