作　　者： ; ; ; ;

机构地区： 东南大学机械工程学院

出　　处： 《机械设计》 2010年第5期59-62,共4页

摘　　要： 根据半转机构原理,设计了一种新型的轮腿式月球探测车,其移动机构由车体支架、4个结构相同的轮腿及转向支架3部分构成。轮腿采用二级半转机构,由电机独立驱动和转向,通过2个串联的行星轮系来传递驱动力矩。并从路面适应性、转向灵活性、车身起伏度、地面几何通过性、抗侧倾能力和垂直越障能力等方面分析了该月球探测车的移动性能。分析表明,该探测车适合在高低起伏的月球表面环境行走。 Based on the principle of the half-revolution mecha- nism, a new-style wheel-legged lunar exploration rover was pro- posed in the paper. Its mobile mechanism is comprised of rover body bracket, four identical wheel-legged components and steering brackets. The wheel-legs adopt a double-half-revolution mecha- nism, it is independently driven and steered by a motor, and the moments are transmitted by means of two tandem planetary gear trains. Its mobility was analyzed from aspects as the adaptabihty of road surface, the maneuverability of steering, the undulation of body, geometrical traffic ability of land surface, the anti-roll ability and vertical obstacle-climbing capability. The analysis shows that this exploration rover is adaptive to walk in the environment on the undulate lunar surface.

关 键 词： 月球探测车 二级半转机构 轮腿 移动性能 分析

领　　域： [自动化与计算机技术] [自动化与计算机技术]