可展开式月球车车轮构型设计及构态变换分析

为解决月球车车轮性能需求与体积约束之间的矛盾,提出了一种径向可展开式车轮结构。通过构型设计和构态变换分析对可展开式车轮进行了概念设计。首先,初步确定基本构型,并基于拓扑图理论对车轮拓扑图中的各关联杆件进行拓扑对称性的判定,去掉重复的杆件关联情况,确定实际关联杆件的可能性数目,进行构型的综合,获得各种可能产生的构型及其机构简图。其次,通过机构简图筛选符合要求的构型,针对所选出的构型分别建立邻接矩阵,利用邻接矩阵的性质分析可展开式车轮机构展开过程中的构态变换及其构态变换前后机构自由度变化情况,判定所选构型关联关系对车轮运动的影响,评价各构型的优劣,检验所设计车轮构型的合理性,最终确定所需的月球车车轮构型。

FRAMEWORK DESIGN AND CONFIGURATION TRANSFORMATION ANALYSIS ON DEPLOYED LUNAR ROVER WHEEL

A deployed lunar rover wheel is presented to solve the contradiction between the performance requirements and the volume constraints on the lunar rover wheel. Its concept design of the deployed lunar rover is carried out based on the framework design and its configuration transformation analysis. Firstly, the primary framework is initiatively confirmed, and then the topological symmetry of the associated members on the topological diagrams is judged. By deleting repetitive associated members, the probable numbers of the practical associated members is determined. On the basis of synthesizing frameworks, all kinds of probable frameworks and their mechanism sketches are achieved. Secondly, satisfying frameworks is obtained by screening mechanism sketches, and then corresponding adjacent matrixes are made according to selected frameworks. Using the features of the adjacent matrix, configuration transformation in the deploying process and the variation range of the degrees of freedom in front-to-back transformation are analyzed on the deployed wheel mechanism. By judging the wheel motion influenced by the associated relationship of selected frameworks, evaluating the quality of all frameworks, verifying the rationality of the designed wheel framework, the framework of the lunar rover wheel is confirmed finally.