| 引用本文: | 罗自荣,尚建忠,张志雄.六轮月球车移动机构分析与综合.[J].国防科技大学学报,2009,31(1):109-113.[点击复制] |
| LUO Zirong,SHANG Jianzhong,ZHANG Zhixiong.Analysis and Composition of Lunar Rover Locomotion Mechanism[J].Journal of National University of Defense Technology,2009,31(1):109-113[点击复制] |
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| 六轮月球车移动机构分析与综合 |
| 罗自荣, 尚建忠, 张志雄 |
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(国防科技大学 机电工程与自动化学院，湖南 长沙 410073)
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| 摘要: |
| 针对六轮月球车，对国内外空间探测机器人的移动机构的构型进行分析和综合，通过构型创新、构型组合等手段提出了125种新型六轮移动机构。进一步利用虚拟样机软件ADAMS12.0和控制仿真软件Matlab6.5平台，从方案创新、方案组装、方案优化三个层次对月球车机械系统和控制系统进行综合评价与优化，得到优化方案及其优化参数。选择了一种方案进行了分析和参数优化，并试制了物理样机，取得较好效果。 |
| 关键词: 月球车 移动性 机构综合 优化设计 |
| DOI： |
| 投稿日期：2008-08-30 |
| 基金项目:国家自然科学基金重点项目(602346030) |
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| Analysis and Composition of Lunar Rover Locomotion Mechanism |
| LUO Zirong, SHANG Jianzhong, ZHANG Zhixiong |
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(College of Mechatronics Engineering and Automation, National Univ. of Defense Technology， Changsha 410073, China)
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| Abstract: |
| Under the background of creative research of six wheeled lunar exploration robot, and based on the analyses of the locomotion mechanisms of foreign space exploring robots, one hundred and twenty five kinds of creative schemes are proposed by mechanism creation and composition. ADAMS12.0 and Matlab6.5 are used to evaluate and optimize the mechanical and control system of lunar exploration rover at the levels of scheme creation, scheme composition and scheme optimum. Several optimized schemes and their parameters are obtained. Finally, an optimized scheme is chosen to produce a physical lunar rover with good performance. |
| Keywords: lunar rover mobility mechanism synthesis optimum design |
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