Shafts Parameter Optimization Design for Lunar Rover Wheel-Leg Planetary Mechanism

摘要

Taking the wheel-legged lunar rover based on double-half-revolution mechanism as a research object, this paper has made a dynamics simulation for the simplified virtual prototype model of lunar rover under several typical road conditions, with the purpose of obtaining the mechanical data of the wheel-leg planetary mechanism shafts. On this basis, this paper established the finite element analysis model of the wheel-leg planetary mechanism shafts, and analyzed their stress by using finite element analysis software ANSYS. Based on ANSYS Parametric Design Language (APDL), the optimization design for the above shafts were done combined with the least-square approximation optimization method. The results show that the optimized shafts not only meet the strength requirement, but also their weights are about 30% lower than the original, which will provide a new and effective way for optimizing the whole wheel-leg structure of lunar rover.