作　　者： ; ; ;

机构地区： 东南大学机械工程学院

出　　处： 《机械科学与技术》 2010年第9期1158-1162,共5页

摘　　要： 根据动物运动的不对称性,设计了一种新型的仿生轮腿式月球车,其移动机构由4个结构相同的轮腿、车体支架以及转向支架3部分构成。在建立仿生轮腿机构坐标变换模型基础上,对月球车移动机构进行了运动学分析,建立了各跨步杆端部的正向运动学模型。基于COSMOS Motion软件对该月球车进行了运动学仿真,给出了移动机构各关节相对于车体质心参考坐标系下的运动轨迹曲线,并对其越障过程进行了虚拟样机运动仿真。仿真表明:该月球车的车身起伏度较小,可以平滑地完成越障跨步动作。 Based on the asymmetric motion of animals,a new-style bionic wheel-legged lunar rover was designed.Its mobile mechanism is composed of four identical wheel-legged structures,a rover body bracket and steering brackets,etc.On the basis of establishing the coordinate transformation models of the bionic wheel-legged structures,kinematics analysis of its mobile mechanism was done,and the forward kinematics models of striking rods were established.Based on the kinematics simulation in COSMOS Motion software,we obtained the motion trail curves of joints relative to the body mass reference coordinate system and analyzed their kinematics features.Its obstacle-climbing movement was also simulated based on its virtual prototype,and the results show that the fluctuation of the bionic wheel-legged lunar rover is small and it can realize the obstacle-climbing movement smoothly.

关 键 词： 仿生轮腿式月球车 二级半转机构 运动学建模 仿真分析

领　　域： [自动化与计算机技术] [自动化与计算机技术]