轮腿式月球车单轮腿机构运动性能仿真分析

摘要

To obtain the motion performance of the single wheel-legged mechanism of a wheel-legged lunar rover,we study its single wheel-legged mechanism that uses a double-half-rotating mechanism.We establish the simplified 3D model of its performance test-bed and its virtual prototype model.Given the speed of the driving motor of the single wheel-legged mechanism,we perform the motion performance simulation analysis of its smooth ground walking and obstacle climbing,thus obtaining its position and velocity simulation curves and its mechanical characteristic simulation curves such as the driving motor′s torque,the action force between the striding rods and the ground,and the stress for connecting various levels of shaft.%为获得轮腿式月球车单轮腿机构的运动性能,以基于二级半转机构的单轮腿机构为研究对象,建立了单轮腿机构性能试验台的三维简化模型和虚拟样机模型,在给定电机转速的条件下对单轮腿机构进行了平地行走和越障工况下的运动仿真分析,得到了单轮腿机构的位置、速度等运动仿真曲线以及电机驱动转矩,跨步杆与地面相互作用力,各级连接轴受力等力学特性曲线。