八轮星球探测车可展开移动系统设计[仿真]【含CAD高清图纸和说明书】
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Pro and con quadrangle suspension fork lunars performance analysis and simulation WangQiaoling Jilin Tonghua Teachersuniversity Tonghua,China; thwql C Guan Rongqiang China university of Mining and Technology, Xuzhou,China; Jilin Teachers Institute of Technology and Engineering, Changchun,China; guanrongqiang1983 Gu Dongdong Jilin Teachers Institute of Technology and Engineering, Changchun,China; goomle1991 AbstractIt is well known Moons surface is different with Earths surface, is opposite in Earths environment, Moons environment is quite bad,the surface is uneven. Walked for the lunar has brought inconveniently. Based on this kind of situation, we study the new steady line of pro and con quadrangle suspension fork lunars design, based on this idea, this article has carried on the analysis to lunars pro and con four distortion suspension fork, in view of the quadrangle and the counter- quadrangles good and bad points proposed that the pro and con quadrangle suspension fork, and carries on the simulation to its performance. Enables its better achieving to walk the sample goal on the Moon. Keywords-Lunar pro and con; quadrangle; simulation; ADAMS I. INTRODUCTION Completed along with the Chang E first phases victory with second phase start 1 , our country has started a round new high tide of lunar probing . how to carried on the survey fall the month later, how carries on the design, the lunar to the science survey carrier - - lunars structure and the performance how to survive on the Moon, has become the new difficult problem which the scientific researchers wanted to solve. The lunar resulted in the research already to have the very profound history, what put into the research first to the lunar was the former Soviet Union and American W.T.Huntress, et al.2003; B.K.Muirhead, et al.2004; Charles.R.Weisbin, et al.1997; Mark Willisamso- n, et sl.2002; Brain Harvey, et al.2007;A.L.Kemurdajian,1998) 2 ,andwilldevelop successively the lunar delivers Moon 3,4 , with overseas compares the domestic lunar research to be quite late, was still at the start the condition. At present domestic has the Harbin Industry University, Shanghai Jiaotong University, the Chinese Science and technology Technology University to lunars key technologies and the prototypical researchs school. They not only manufactured the lunar which and the foreign country was similar also to innovate advanced each kind of new theory. This article is complex in view on this kind of question as well as Moons special environment - - road surface, is distributing the size shape anomalous stone, the crater and the pitch; Month soil granularity size not standard, loose divergence inconsistent and so on question 5 . Carries on the concrete design to lunars body structure. Develops new based on the pro and con quadrangle suspension fork-like six lunar wheeled vehicles. II. LUNARS SYSTEM DESIGN This article elaborates what the lunar uses is mainly uses the pro and con quadrangle suspension fork to carry on the design. This lunar altogether has six wheels, the 2*3 distribution in nearby load platform two. In carries on the shuttle regarding the barrier small situation to the barrier, to large-scale is unable the shuttle barrier to carry on detours. Figure 1 is the pro and con quadrangle suspension fork lunar vehicle laboratory model, may very easy see on Figure 1 the pro and con quadrangle suspension fork the design model, the wheel and the load platform place the position. Figure 1. Pro and con quadrangle suspension fork lunar vehicle model 6044 978-1-4244-8165-1/11/$26.00 2011 IEEE III. PRO AND CON QUADRANGLE SUSPENSION FORKS STATEMENT AND DESIGNS Because the rocking shaft type suspension fork Mars Rover already and has confirmed its feasibility after Mars test. Therefore this article designs the lunar as will use for reference take this kind of Mars Rover, according to lunar Mars differently its improvement. A. Alignment quadrangle counter-quadrangle analysis Rocky7 is the Mars Rover Sojourner improvement vehicle, its bogie turned a straight pole by the original bulges curved pole, changed in the Sojourner movement in certain degree the bogie stability not high question. But also reduced the bogie ground clearance in the change process, is the bogie is very easy with the barrier contact which must cross, jacked the suspension fork, is unable to surmount the barrier. If the reduction bogies straight pole length, may enhance the bogie the geometry to pass the nature, but like this will reduce the bogie the stability. From this may see, the bogie stability and the geometry pass the nature to restrict mutually, based on this kind of situation, according to the kinematics and mechanism principle, this article proposed one kind equates in Rocky7 and the Sojourner incline and the curving bogie organization - - quadrangle suspension fork. Figure 2, chart 3 respectively is the inclined curving bogie model and the quadrangle organization parametric model. Figure2. Inclines the curving bogie model Figure3. Quadrangle shape organization parametric model This quadrangle organization is composed of three members, altogether has 4 hinge points, two fork-shaped marks hinge contacts are the pick-up points. Installs the method with the bogie to install enables the corresponding member at other parts to circle the pick-up point to revolve freely. When quadrangle suspension fork like chart 4 parallel laying aside, its member and the corresponding bogie members length and the angle of tilt are equal, two kind of organizations have the same level path and the stressful condition, therefore, the quadrangle suspension fork can definitely replace the inclined curving bogie, and has the inclined curving bogie fine performance. The rocking shaft is the rocking shaft - - bogie another building block, to sharpen the main rocking shafts obstacle crossing ability, we proposed one kind of rocking shafts evolved organization - - counter-quadrangle organization. Enables it to achieve the optimized rocking shaft performance the goal. Figure 4. modle of rocking shaft Figure 5. parameter model of counter-quadrangle organization The counter-quadrangle organization has four hinge points, we used the dashed line in Figure 5 the help attachment point counter-quadrangle model, might very easy see the resonsideration distortion organization through this model the principle of work. Writes on the way has the hinge point that spot position pick-up point. Installs the method with the bogie to install enables the corresponding member at other parts the free rotation. B. Pro and con quadrangle suspension fork design Through the front analysis may very clear awareness, the quadrangle organization be possible to substitute for the bogie, the counter-quadrangle organization may substitute for the rocking shaft. Therefore this article unifies the quadrangle and the counter-quadrangle two kind of organization characteristics, proposed that one kind of new suspension fork - - pro and con quadrangle suspension fork, achieves the optimized suspension fork performance the goal. Figure 6 is the pro and con quadrangle suspension fork unilateral molded relief map. Figure 6 pro and con quadrangle suspension fork unilateral molded relief map 6045 The pro and con quadrangle suspension fork is composed of the six roots connecting rod and seven hinges, what the left side serial number 1, 2, 3, 4 four connecting rods constitute is the quadrangle organization, what the right side serial number is 4, 5, 6, 7 four connecting rods constitutes is the counter- quadrangle organization, seven serial number 1, 3, 7 connecting rods before the trailing wheel, round, line on the feet and palms of buddha separately the connection. It installs the way and the rocking shaft - bogie suspension fork is the same. IV. PRO AND CON QUADRANGLE ANALYSIS Establishes two kind of organization related member length and the angle is the same, the outside is also same to two organizations actions and the moment of force, in Figure 4, Figure 5 G is the load platform pressure, the action which and the moment of force, respectively 3 meets be the wheel bonds when two organization terminals receives, usually. The definition and respectively is two organization counterbalance moments. Two organizations crawl more ability relative strong and the weak to be possible to reflect through the contrast counterbalance moment that the counterbalance moment is bigger crawls ability to be stronger, otherwise crawls ability to be weaker. With may 4.1 and the type 4.2 indicated through the type: 33131 43331 )cos() )tan()sin( LGTHH cLLFT f e + += 4.1 343 33 5 3331 2 )( )sin()sin( )sin()sin( )sin( LGLL F L TFH T f e + + + + = 4.2 In the formula fRFT f = 33 f is the effective friction coefficient that the pressure generated by the friction wheel unit. In lunar environment 10 e TT then quadrilateral is greater thanthe balance of the anti-torque arm torque balance. )( )45sin(2 )45sin( 43 31 31 5 LL fRH fRH L + + + = D D 4.4 Therefore, after the suitable establishment values counter- quadrangle shape organization has strongly compared to the rocking shaft crawls ability. V. PRO AND CON QUADRANGLE SUSPENSION FORK PERFORMANCE SIMULATION ANALYSIS Founds the pro and con quadrangle suspension fork and the rocking shaft suspension fork model in ADAMS, for ease of explanation, hypothesis pro and con quadrangle suspension fork for model 1, rocking shaft suspension fork for model 2 ,Moves the system design request according to the Chinese lunar two model parameter data establishments is: Size: 1.5m*1.0m*0.8m, quality: 120kg, monowheel quality: 3kg, nature distance between centers month highly 0.5m, wheel diameter 0.3m, wheel rotational speed 6r/min, gauge 0.5m, around wheel base 1.2m, gravity acceleration 1.6m/s2. Gradual increases the model vehicle and the road surface friction coefficient in the simulation process, can crawl until the quadrangle rover jumps over the 250mm high vertical barrier. A. To pro and con four side good obstacle crossing ability simulation To the model 1, model 2 when surmounts the 250mm barrier the wheel friction force carries on the simulation, obtains the following chart 8 friction force and the time relations. By Figure 7 surmounts the process and Figure 7 the friction force and the time relational graph may see, when wheel contact barrier, wheels effective friction coefficient rises rapidly, and in a short time achieves in a big way, when the wheel lift-off starts lifts, the effective friction force starts the gradual slow drop, from this may infer, when the wheel occupies the contact barrier but lifts for the lift-off, the wheel crawls more is most difficult. Figure 7 relations of modle 1 and modle 2 friction coefficient with time For the comparison model 1, model 2 obstacle crossing abilities, carries on the analysis to the chart curvature. May see 6046 by the curve relations, the model 1 the friction coefficient which needs in the entire obstacle crossing process must be smaller than a model, but needs friction coefficient. Therefore, model 1 ability must surpass the model 2 obstacle crossing abilities. Namely pro and con quadrangle shape suspension fork lunars obstacle crossing ability must surpass the rocking shaft - - suspension fork type lunars obstacle crossing ability. When obstacle crossing with platform stable analysis B. When obstacle crossing with platform stable analysis When lunar when through uneven road surface, the load platform will have certain extent angle of pitch swinging, the swinging degree size and the suspension fork form by the very big relations, will have the fine performance suspension fork when through the road surface, only will then very slightly swing, below will use the angle of pitch size expression suspension fork the performance quality, the value is smaller, the showing suspension forks performance will be better. Figure 8 is two models is surmounting the 250mm high vertical barrier is the elevation angle change. And the solid line is the model 1 angle of pitch diagram of curves, the empty hatchure is the model 2 pitching diagrams of curves. Figure 8 Pitch angle curve of two modle May see according to the chart in curve relations, the model 2 biggest angles of depression are 18.7 degrees, the model 1 biggest angle of depression are 11.5 degrees, therefore obviously, when meets bonds the model 1 stability to be higher than the model 2 stabilities, the pro and con four side good suspension forks have compare the rocking shaft suspension fork to have can the superior performance. VI. CONCLUSIONS This article proposed one kind of innovations lunar moves the system, this system begins using the pro and con quadrangle suspension fork is a main body. In the article through to the rocking shaft type suspension fork and the pro and con quadrangle suspension forks stress analysis, the posture analysis, obtains the pro and con quadrangle suspension fork to be able to cause the motion system to compare the rocking shaft type suspension fork to have the strong obstacle crossing ability and the steady ability conclusion. And is carrying on the simulation analysis to the pro and con quadrangle suspension forks obstacle crossing ability with the platform stability, analyzes the pro and con quadrangle suspension fork through the simulation graph to have and so on superiorly the performance. This systems design is a comparison innovation system design, has the Chinese characteristic lunar and the system to the later construction has certain reference function. REFERENCES 1 Ouyang Ziyuan. Our country lunar surveys overall scientific goal and the developmental strategy J. geoscience progresses .204,(03):351-358 (In Chinese). 2 Chen Shirong. The rocking bar - - changes the posture lunar and the month surface through the performance study. University of Science and Technology of China. Precision instrument and machinery .2009. (In Chinese). 3 G Genta. Vehicles for robotic and manned planetary exploration.57th Intemational Astronauti- cal Congress.2006:1- 15 4 CARRIER, W.D.Soviet rover systems. Space Programs and Technologies Conference.1992:1-8 5 ZHENG Yongchun, OUYUAN Ziyuan, WANG Shijie, etal.Physical and mechanical properties of lunar regolithJ.Journal of Mineralogy and Petrology,2004,24(4):14- 19.(In Chinese). 6047
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