一种行星探索车举升机构设计

介绍了摇杆-转向架悬挂系统的收缩和展开状态,根据展开过程,分析了举升机构的任务。采用双重四杆机构设计举升机构,以满足摇杆-转向架展开过程中两大步骤的需要。详细介绍了该举升机构的工作原理和双重四杆机构的切换过程。最后对举升过程中的四杆机构参数进行了分析设计,给出了机构参数设计模型,利用该模型可以对四杆机构的受力进行优化设计。

The package state and normal working state of Rocker -Bogie mechanism are introduced here. The deployment process of the mechanism from the package state to the working state is analyzed. The task of the lift mechanism is given according to the process. A double four bar mechanism is used for the lift mechanism to satisfy the two main tasks of the deployment process of the rocker-bogie. The functions of the lift mechanism are analyzed in detail. The mathematic model for the design of the four bar mechanism used on lift process is given at the last. The optimized mechanic performance can be get by the model combined with the mechanic analysis.

中科院机器人学研究室项目(RL200503,RL200504);;安徽省教育厅自然科学基金重点资助项目(2006kJ078A)