六圆柱-圆锥轮式月球车的设计

针对月球表面的非结构化环境,设计了一种新型六圆柱-圆锥轮式月球车.整车由三节串联而成,每节具有一对独立驱动的圆柱-圆锥轮,由两个三自由度的悬架结构连接,三节之间能够被动实现俯仰和扭转相对运动;悬架关节中设计有离合器或制动器,能够根据需要锁住关节或在电机驱动下实现主动俯仰或前摆运动,从而能够使月球车根据路况以轮式或轮步方式移动.为了降低刚性车轮产生的振动,在车轮和支承轴之间设计了由金属橡胶构成的减振器.对月球车的结构参数优化和移动性能的分析,结果表明,该车具有很强的地形适应能力和越障能力.

Design of a lunar rover with six cylinder-conical wheels

A new type of lunar rover with six cylinder conical wheels was designed considering the unstructured environment of the lunar surface.The chassis of the rover consists of three configuration segments with a pair of independently motorized wheels,which are joined together by two articulated frames with three degree of freedom.Mounted with two clutches and a brake on each,the two articulated frames allow the segments to passively twist and pitch,to brake to a configuration,or to be motorized to pitch or swing.So the rover is capable of locomotion in wheel mode or in wheel-walking mode depending on the soil surface conditions.To reduce vibration from rigid wheels,a vibration absorber made of mental rubber is designed for each shaft of the wheels.Based on a virtual prototype,optimal parameters of the rover are obtained.Analysis and calculation shows the rover has excellent conformability to rough terrain and strong obstacle climbing capability.