可折展载人月球车移动性能仿真与试验分析

摘要

为更加有效地研究载人月球车移动系统低重力环境下的移动性能,建立了载人月球车仿真模型,并对地月两种不同重力环境下的移动性能进行了仿真对比分析,在地面重力条件下极限越障高度明显降低.轮地相关参数不变,仅改变重力加速度,仿真得到载人月球车移动系统地面重力下最大可爬坡角度小于月面重力下可爬越最大坡角.同一越障高度,土壤相关参数一致,重力加速度不同的情况下,地面重力条件下移动系统质心加速度明显大于月面重力条件下的质心加速度值.在移动性能仿真分析基础上,对可折展载人月球车移动系统地面原理样机进行了搭建,在保证地月不同重力环境下车轮及悬架承受的有效载荷一致的前提下,在地面重力条件下,利用实验室松散沙土模拟月壤进行了越障和爬坡等通过性能试验,验证了所设计的移动系统满足设计约束要求,为后续载人移动系统的深入设计奠定了基础.%For effective research on mobility performance of deployable manned lunar vehicle at low gravity, the deployable locomotion system and the simulation models on mock lunar soil were built . The mobility performance was simulated and the mobility performance on lunar surface or on earth were compared.The maximum obstacle height in earth gravity decreased significantly .When other relevant parameters unchanged , the maximum gradability on earth was less than that on the lunar surface.With the same obstacle height and soil parameters and different gravities , the Center of Mass( COM) acceleration of the manned lunar vehicle on earth was significantly greater than that on the moon.On the basis of the simulation analysis , the prototype of the lunar vehicle on earth was built .Then related trafficability experiments such as gradeability and obstacle crossing etc were car-ried out on mock lunar soil on earth for the manned lunar vehicle ensuring that the wheels and sus -pensions were under the same payload .It is verified that the locomotion system of the deployable manned lunar vehicle discussed in this paper could meet the requirements of the design constraints . This provides a technical basis for the further research of the manned lunar rover.