| 低重力补偿下六轮独立驱动月球车的运动分析 |
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| 引用本文： | 董玉红,邓宗全,高海波. 低重力补偿下六轮独立驱动月球车的运动分析[J]. 哈尔滨工程大学学报, 2009, 30(1) |
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| 作者姓名： | 董玉红 邓宗全 高海波 |
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| 作者单位： | 哈尔滨工业大学,机电工程学院,黑龙江哈尔滨,150001;哈尔滨工业大学,机电工程学院,黑龙江哈尔滨,150001;哈尔滨工业大学,机电工程学院,黑龙江哈尔滨,150001 |
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| 基金项目： | 国家自然科学基金，中国博士后科学基金 |
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| 摘 要： | 为了在地球上模拟月球表面的低重力环境,需要对月球车进行重力补偿.提出了吊丝式双天车结构的重力补偿方案,确定了月球车在崎岖路面上行进的质心域,分析了低重力下吊丝倾角和质心变化对车轮垂直载荷的影响,绘制了车轮垂直载荷的仿真曲线,完成了低重力补偿下月球车的运动分析.研究结果表明,吊丝倾角越小,月球车的质心变化域越小,则因低重力补偿引起的月球车运动波动越小.该研究为月球车低重力实验环境的建立、月球车移动子系统的功能测试和可靠性实验奠定了理论基础.
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| 关 键 词： | 月球车 低重力 质心域 运动分析 |
Kinematic analysis of lunar rovers in a low gravity experimental environment |
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| DONG Yu-hong,DENG Zong-quan,GAO Hai-bo. Kinematic analysis of lunar rovers in a low gravity experimental environment[J]. Journal of Harbin Engineering University, 2009, 30(1) |
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| Authors: | DONG Yu-hong DENG Zong-quan GAO Hai-bo |
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| Affiliation: | School of Mechanical and Electrical Engineering;Harbin Institute of Technology;Harbin 150001;China |
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| Abstract: | In order to simulate the low gravity environment of the lunar surface on the earth,the gravity experienced by the lunar rover must be compensated for.Gravity compensation was provided with a configuration of silk straps hung from two bridges.The zone of the center of mass was determined when the lunar rover moves on uneven terrain.Changes in the vertical loads on wheels from lower gravity were simulated by the tilt angle of the silk,and the influence on loads of changes in the center of mass was analyzed.Si... |
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| Keywords: | lunar rover low gravity center zone of mass kinematic analysis |
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