混合驱动五杆月球车动力学分析

根据月球车腿式移动机构的优点,针对混合驱动五杆月球车用拉格朗日法推出混合驱动五杆月球车的动力模型,得出各杆线速度和驱动力的表达式。通过设置具体参数对混合驱动五杆月球车模型进行分析,得出了混合驱动月球车的五杆机构运动仿真图、主动关节等效惯量,耦合惯量和驱动力矩的变化规律。结果表明,对于给定的运动规律,机构的位形对系统的主动关节等效惯量、耦合惯量和驱动力矩的影响较大。

Dynamics analysis of hybrid-driven five-bar lunar rover

According to the advantages of the leg type travelling mechanism of the lunar rover,a dynamics model for hybrid-driven five-bar lunar rover is presented in it based on the Langange method,so that the expression for liner speed of each bar and driving force is obtained.Then by setting specific parameter the model of the lunar rover is analyzed to obtain simulation chart for five bar mechanism of the hybrid-driven lunar rover,equivalent inertia as well as changing law of coupling inertia and driving torques of the active joints of mechanism.The results show that for a given motion,the configuration has a significant influence on the equivalent inertia,coupling inertia and driving torques.