基于摇臂-转向架结构月球车的越障能力判断准则

对轮式移动系统进行越障分析时,常以垂直越障作为评价标准。但是,月球车在凹凸不平的月面上行驶时,垂直越障模型不具有一般性。为此,本文对基于摇臂-转向架结构月球车在任意路面的越障进行了研究。一般情况下,由于任意路面越障模型相对复杂,可以建立的独立平衡方程数目少于未知变量数,因此无法得到越障能力与路面参数的函数关系式。针对上述问题,文中将最大有效牵引力假设引入越障模型中,得到了一种任意路面越障能力的判断准则。通过算例分析,表明了所提方法的有效性。

When doing the crossing obstacle analysis of wheeled moving system,people often take the crossing vertical obstacle capability as the judging standard.But when the lunar vehicle goes on the land of lunar which is full of bumps and holes,the crossing vertical obstacle model has no generality.Because of this,the crossing obstacle capability of the lunar vehicle was studied based on the rocker-bogie configuration when going on the arbitrary road surface.In general,because the crossing obstacle model of arbitrary road surface is relatively complicated and the numbers of independent equation are less than those of unknown variables,the functional relationship can't get between the crossing obstacle capability and the parameters of road surface.In allusion to the question,the assumption about strongest effective-drawing force into the crossing obstacle model was led and a judging standard of the crossing obstacle capability of the road surface was got.Through calculating the example,the result confirms the validity of the method.

内蒙古自然科学基金项目(200508010705)