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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Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation Jacksonville, FL, USA, June 20-23, 2007 ThBT3.5 1-4244-0790-7/07/$20.00 2007 IEEE. 173 ThBT3.5 174 ThBT3.5 175 ThBT3.5 176 ThBT3.5 177 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 外 文 翻 译毕业设计题目:八轮星球探测车可展开移动系统设计 原文1:Pro and con quadrangle suspension fork lunarsperformance analysis and simulation 译文1:正反四边形悬架月球车的性能分析和仿真原文2:Design and simulation Research On a New Type of Suspension Lunar Rover译文2:一种新型悬架月球车的设计与仿真研究正反四边形悬架月球车的性能分析和仿真摘要众所周知,月球表面与地球表面是不同的,与地球的环境相反,月球的环境很差,其表面上很不平整。因此在月球上行走很不方便。基于这种情况,我们学习新的稳定线的正反四边形悬架月球车的设计,基于四边形和反四边形的好和坏的方面的分析,对正反四边形悬架的设计提出了方案,并对其性能进行了模拟。使其在月球上更好地实现成为步行样品的目标。关键词 月球车;正反四边形;模拟;ADAMS软件一、导言 随着嫦娥第一阶段的胜利竣工,从第二阶段开始1,我们国家开始了新一轮月球探测的高潮。进入秋天一个月后,如何进行调查,如何进行设计,月球车科学调查运营商 -月球车的结构和性能如何在月球上生存,已成为科研人员要解决新的难题。对月球车的研究已经有很长的历史,首先对月球车研究的是前苏联和的美国WTHuntress,等al.2003; BKMuirhead,等al.2004; Charles.R.Weisbin,等。al.1997; Willisamso马克-N,sl.2002等Brain Harvey,等。al.2007; A.L.Kemurdajian,1998年)2,andwilldevelop先后进行月球车研究3,4。与海外月球车研究相比,国内对月球车的研究很晚,如今仍处于起步阶段。目前国内有哈尔滨工业大学,上海交通大学,中国科学与技术大学掌握了月球车的关键技术和原型研究。他们不但生产和外国类似的月球车,还创新各种先进的新理论。 这篇文章中关于这类问题如月球的特殊环境-路面环境一样是复杂的,以及大小形状分配不规则的石头,火山口间距; 大小不标准的月球土壤粒度,松动分歧不一致等问题5也是复杂的。具体到月球车的车身结构设计上,基于对正反四边形的研究开发出悬挂叉状六个轮的月球车。二、月球车的系统设计本文阐述了月球的用途是什么,主要使用正反四边形悬架进行设计。这个月球车总共有六个轮子,以2* 3方式分布在附近的负载平台两侧。在碰到障碍小的情况能够穿过屏障,在碰到无法穿梭的大障碍时走弯路。图1是正反四边形悬挂叉月球车辆的实验室模型,可以很容易看到图1正反四边形悬架的设计模型车轮和负载平台放置的位置。图1正反四边形悬挂叉月球车型三、提到以及设计的正反四边形悬架由于摇臂式悬架火星漫游者“已经通过火星的测试后已确认其可行性。因此本文将使用这种火星漫游者作为参考设计月球车,根据月球火星的环境做不同的改善。校准四边形反四边形的分析 rocky7是火星漫游者的改善车辆,其转向架转向原有的弧形隆起的直杆极,在旅游运动中在一定程度上解决了改变转向架稳定性不高的问题,但在变革过程中的也减少了转向架与地面的间隙,使得接触它的障碍更容易,是转向架必须跨越的障碍,避震悬挂叉,是无法克服的障碍。如果减少转向架的直杆长度,可提高转向架传递的性质,但像这样的几何形状会减少转向架的稳定性。从这可以看出,转向架稳定性和几何通过相互制约的性质,基于这样的情况下,根据运动学和机制的原则,本文提出了一种相当于Rocky7旅游者倾斜和弯曲的转向架组织 -四边形悬架。图2,图3分别是倾斜弯曲转向架模型和四边形组织参数化模型。 图2 倾斜弯曲的转向架模型图3 四边形的形状组织参数化模型这个四边形机构包含三个成员,共有4铰链点,两个叉状商标的铰链接触是回升点。安装转向架安装方法使其他部分成员相应在围绕绕点自由回升。当像图4平行四边形悬架搁置,其成员和相应的转向架成员长度和倾斜角度都是平等的,组织的两种同一级别的方向和紧张的状态,因此,四边形悬架绝对可以取代斜弯曲转向架,有倾斜弯曲转向架罚款的性能。摇臂摇臂 -转向架结构,突出了主摇臂的突破障碍能力,我们提出一种摇摆轴的发展组织 -反四边形组织,使其达到摇臂性能优化的目标。图4 摇臂模式模型图5反四边形参数模型反四边形组织有四个铰链点,我们用虚线在图5的辅助附着点连成反四边形模型,通过这种模式的工作原则可能很容易看到失真组织。写入的方式上有铰链点当场表态接送点。转向架安装方法使得安装相应的成员可以在其他部位自由旋转。B.正反四边形悬架设计通过前面的分析可以很清楚的认识,四变形组织有可能代替转向架,反四变形组织可能代替摇轴。因此,本文结合四变形和反四边形的组织特征,提出一种新的避震前叉 -正反四边形悬架,达到优化的悬挂叉性能的目标。图6是正反四边形悬架单侧模压地形图。图6 正反四边形悬挂叉单方面的模压地形图正反四边形悬架组成6根连杆和七个铰链,左侧端序号1,2,3,4四连杆构成四边形机构,右侧的序列号4,5,6,7四连杆构成的反四边形机构,7个序列号1,3,7连接棒前,后轮,轮,上线佛脚和手掌分别连接。它安装的方式和摇臂转向架悬架是相同的。四、正反四边形分析建立两个组织有关成员的长度和角度是一样的,外面也有相同的两个组织的行动和力矩,图4中,图5 G是负载平台压力,行动和力,分别为3的时刻,符合轮债券当两个组织的终端,通常接收。 “定义和分别是两个组织抗衡时刻。这两个组织抓取更多的能力相对强和弱是可能的,以反映通过对比抗衡的时刻,平衡的时刻更大的抓取能力更强,否则抓取能力较弱。同4.1和类型4.2表示通过类型:在公式中f为有效系数,摩擦产生的压力 轮毂单元。在月球环境f设定为0到10,使用方程式4.2-4.10方程我们可以得到分析公式4.3,当L5满足不等式4.4,电子测控然后四边形是更大的平衡反扭矩臂的力矩平衡。因此,在设置合适的值后,相比摇臂抓取能力反四边形的形状组织更强。五、正反四边形悬架性能仿真分析开创了正反四边形悬架和摇摆轴悬架模型,在ADAMS中,为便于解释,假设正反四边形悬挂叉模型1,摇轴模型悬架2,根据中国月球车两个模型参数数据移动系统的设计要求是大小:1.5M *1.0米*0.8米,质量:120公斤,单轮质量:3KG中心之间的距离,高度0.5米,轮轮旋转速度6r/min,直径0.3M,衡量0.5米,轴距1.2米,重力加速度1.6m/s2。循序渐进增加了模型的车辆与路面摩擦在模拟过程中的系数,可以缓慢地行进直到四边形遇到250毫米高的垂直障碍。A正反四个侧面跨越障碍物能力模拟对模型1,模型2时超越250毫米屏障轮的摩擦力进行模拟,得到下面的图表8摩擦力和时间关系。由图7超越的过程和图7摩擦力和时间的关系图可以看出,当车轮接触的屏障,有效车轮的摩擦系数上升迅速,在很短的时间实现在一个大的方式,当升降机轮升空开始,有效的摩擦力启动逐渐缓慢下降,这可以推断,电梯当轮子升空占地接触障碍增加,行进更远的轮是最困难的。图7产品型号1和产品型号2随着时间的推移摩擦系数为比较模型1,模型2跨越障碍物能力,对图表曲率进行分析。由曲线关系可以看到,模型1的摩擦系数需要在整个跨越障碍物的过程必须是小于一个模型的摩擦系数,除了需要的摩擦系数。因此,模型1的能力必须超过2模型跨越障碍物能力。即正反四边形形状暂停叉月球车的跨越障碍物的能力必须超过摇摆轴 -悬架类型月球车的跨越障碍物的能力。B 当跨越障碍物时,平台稳定分析当月球车通过不平的路面时,负载平台将有一定程度上俯仰摆动的角度,非常摇摆程度的大小和悬架形式大关系,只有当性能优良的避震前叉通过路面,才会轻微摇摆,下面将使用角度大小来表达悬架的性能质量,值越小,显示悬架的表现会越好。图8是两款车型超越的250毫米的高垂直障碍时仰角的变化。实线是模型1俯仰角曲线图,虚线是模型2的仰角曲线图。图8两模型角曲线间距根据曲线关系图表可以看到,模型2最大的俯视角为18.7度,模型1最大俯角为11.5度,因此,模型1的稳定性要比模型2稳定性高,正反四个侧面良好的避震前叉比摇臂悬挂叉能的性能优越。六、结论本文提出一种创新的月球车移动系统,该系统开始使用的正反四边形悬架是一个主体。通过对这篇文章中摇臂式悬架和正反四边形悬架的应力分析,姿势分析,能够得到正反四边形悬架运动系统比摇臂式悬架运动系统有强大的障碍穿越能力和稳定的能力的结论。并对正反四边形悬架的跨越障碍物平台的能力进行仿真分析,通过模拟图形分析了正反四边形悬架等具有的优越性能。该系统的设计是一个比较创新的系统设计,有中国特色的月球车和对以后的系统建设具有一定的参考作用。参考1欧阳自远,我国月球调查的整体科学目标和发展战略研究J。地球科学进展0.204,(03):351-358(中国)。2陈世荣,改变姿势摇杆月球车和通过月面的性能研究。中国科学和技术大学。精密仪器,机械0.2009(中国)。3 G Genta,车辆机器人和载人行星国际宇航局第57研究所-CAL Congress.2006:1 -154 CARRIER,W.D.Soviet流动站系统。空间计划和技术会议.1992:1-85郑永春,欧阳自远,王世杰等,月球土壤J的物理和力学性能。矿物岩石,2004,24(4):14 -19。(中国)。作者:王巧灵,关容强,顾东东国籍:中国出处:2011 International Conference on Electrical and Control Engineering (ICECE) 一种新型月球车悬架的设计与仿真研究摘要本文提出了一种新型的悬架月球车。这种悬臂主要由一个正四边形杠杆机构和负四边形杠杆机构组成。该悬架的设计了基于以下几个方面:攀上障碍,适应地形,顺利行走,相等的分配负载给车轮。在本文中,首先对新悬架结构的进行说明,第二对其杠杆的运动学进行分析,并且建立该悬架机构的关系方程,所以悬架的变形能力是已知的。为了测试的悬架的能力,我们设计了一个原形悬架,并测试其攀登障碍的能力,并且结果表示该装备有新型悬架的模型具有良好的攀爬越障能力,并可以保持平稳。基于我们在测试中发现的缺陷,我们优化杠杆机构,然后建立具有基于ADAMS新型悬架和摇臂转向架的月球车模型,然后再仿真其能力的比较。进一步的研究工作这种新开发的悬架现在正在开展,以提高其整体性能。中国已确定在不久的将来开展月球探测工程。所研究的新类型的悬架提供了宝贵的技术支持。一、 简介中国专家预计将发送月球车到月球上在2012年实施探索。因此,一些研究机和大学都在积极从事研究相关领域的月球车。由于月球车的运动系统装有检测仪器,重要的是要顺利地移动。以发展勘探技术在2004年中国吉林中国大学发明了一种新类型的悬挂月球流动站。将悬架主要是由一个正四边形杠杆机制和负四边形杠杆机制。试验结果表明新类型的悬架具有优异的爬上障碍能力,使驾驶室平滑。 提出了新的悬架提供了宝贵的在未来的月球探测的技术支持。二、 障碍分析显示遇到的障碍部分装在悬架杠杆的力量图1所示的车轮时。 G是单轮重力。 FM是合力加载在悬架杠杆轮。 之间的角度由力和地平线。 G是整个月球车的重量。 是路面与车轮的附着系数。 是道路阻力系数。定义f是系数,并考虑F =。它是假定月球车是由6个车轮,每边三个轮子,和负载的重量是同样分配到六个轮子。所以当单轮遇到障碍物,考虑的特性土壤,采取f最大=0.45。考虑到月球车的结构和重量,采取GW = G/602。因此,通过等式(1),得出的结论是= 45。它指的方向作用的力车轮悬架杠杆为45。图6悬架杠杆三、新型悬架的设计1悬架的设计原则。1)出色地翻越障碍从上面的分析我们知道,当车轮遇到障碍,悬架杠杆作用的力的方向轮毂为45。杆机构被设计时,方向一些共同车轮的杠杆方向应垂直于的作用,他们尽可能地以增大扭矩,使杠杆转动的方向有利于爬上障碍。所以,我们应该做的有关杠杆与反向45到地平线倾斜。 2)出色地顺利行走能力 悬架应该有能力自动适应地形的穿越障碍时,可以消除影响凹凸不平的地面,并保持驾驶室平稳。3)驾驶室的负载分发到每个车轮4)具有良好的折叠和展开以携带方便2结构的正和负的四边形悬挂根据上面的悬浮式设计的原则,我们设计了一种新型的悬架,这主要是由一个正四边形杠杆机构构成和一个负的四边形杆机构,如图2中所示。该悬浮液是由六个杆,和控制杆1,杆3和杆6的端部的连接分别与前15轮,中间轮16和后轮17。杆1和杆2是在点8处铰接,相同的铰接也是在点7处,控制杆1和杆3的杆2和杆4在点10中,杆3和杆件4在点9,杆2和杆5在点12,杆件4和杆6在点14,并在点13的杆5和杆6。双方的正和负的四边形杆机构与驾驶室通过差动轴杆4点11。因此,横摆角的驾驶室的平均横摆角两侧杆4。图2正反四边形悬架四、地形适应能力1悬架运动学方程为了很容易地分析的运动之间的关系杆,由从中心的辅助线前轮和45角度分析,图3中所示的控制杆1。 三个分支杆4杆之间的角度分别为135,135和90。 控制杆1是平行于杆4的一个分支杆,杆图2是平行于杆3,和辅助线是平行于另一个分支杆4杆。每一控制杆的长度分别是L1,L2,L3,L4,L5,L6,L7,L8,L9,L10,和L11,如图3中所示。并且a是的中心之间的距离沿水平方向的前轮和中间轮,b是中间轮和中心之间的距离后轮,c是沿水平方向的距离之间的辅助线和后轮的中心的,d是之间的距离的中心的前轮和后轮沿辅助线,h是之间的高度攀岩轮和其他车轮的中心,是杆3和杆1之间的角度,是辅助线之间和控制杆1,是杆5和水平辅助线之间的角度,是杆6和垂直方向之间的辅助线的线辅助线之间的夹角,是和水平,是杆3和水平之间,为杆6和水平之间,是杆1和之间水平,是杆6的垂直线之间的角度和杆5星,是杆2和连杆之间的垂直线5,是一个中间变量。图3的悬浮液中的几何参数2障碍轮攀爬高度考虑到整个结构结构,初始化参数:L1 =400mm时,L2= 50,L3 =250毫米,L4= 150毫米,L5= 100,L6 =250毫米,L7= 100 L8 =250毫米的,L9= 100,L10= 50,L11=282.8毫米。什么样的高度障碍轮可以爬上去可以得到通过h的值。然而,上面的方程非线性和有15个16个变量,方程h的分析解决方案不能得到。数值方法这里来解决这个问题,必须施加。由于表达的对应关系,在正极和负极四边形,被选择作为独立变量。 “不同的值,在-20-100取入到方程,和然后的h的相应的值可以是获得。图4示出结论的计算通过曲线。 x坐标的y代表角度,坐标表示提高车轮的高度,曲线的右侧,左侧和中间两侧对应到前面,中间,后轮。显然,最大高度轮高度是约220mm。图4的高度之间的对应关系爬上前,中,后车轮和角度七、结论正反四边形悬架是新开发的悬架系统。测试和仿真结果表明,用新的悬架的模型具有良好的攀爬障碍,适应地形能力,顺利行走,保持驾驶室平稳等,中国已经确认在不久的将来开展月球探测工程。所研究的新类型的悬架杠杆系统将提供宝贵的技术支持。作者:CHEN Baichao, WANG Rongben, YANG Lu, JIN Li-sheng, GUO Lie国籍:CHINA出处:Design and Simulation Research on a New Type of Suspension for Lunar Rover. Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation12
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