Mobile Mechanism Scheme Design of Wheel-legged Lunar Rover

摘要

The configuration combination design method of wheel-legged lunar rover was proposed,which regards the mobile mechanism of wheel-legged lunar rover as three subconfigurations: wheel-legged mechanism,suspension and bodywork. The computation model of optional configuration scheme of the lunar rover was established,which is based on isomorphic combination and isomerous combination design. With the wheel-legged rover with double-half-revolution mechanism as a research object,based on configuration analysis of its mobile mechanism,4 kinds of wheel-legged mechanisms,4 kinds of suspensions and 5 kinds of bodyworks were proposed. Taken four wheel-legged and six wheel-legged lunar rovers as examples,by using isomorphic and isomerous combination design method,206 kinds of mobile mechanism schemes of the wheel-legged lunar rover are obtained,which have important reference value for innovation design of wheellegged lunar rover.