宇航学报

宇航学报 ›› 2019, Vol. 40 ›› Issue (5): 501-507.doi: 10.3873/j.issn.1000-1328.2019.05.002

• 飞行器设计与力学 • 上一篇    下一篇

火星车转移坡道柔顺性优化设计及动力学分析

唐玲，刘卫，刘金生，危清清   

  1. 1. 北京邮电大学自动化学院，北京 100876；2. 北京空间飞行器总体设计部，北京 100094； 3. 空间智能机器人系统技术与应用北京市重点实验室，北京 100094
  • 收稿日期:2018-07-19 修回日期:2019-02-26 出版日期:2019-05-15 发布日期:2019-05-25
  • 基金资助:

    国家自然科学基金青年基金(51605036)

Flexibility Optimal Design and Dynamics Analysis of Transfer Ramps for a Mars Rover

TANG Ling, LIU Wei, LIU Jin sheng, WEI Qing qing   

  1. 1. School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China; 2. Beijing Institute of Spacecraft System Engineering, Beijing 100094, China; 3.Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications, Beijing 100094, China
  • Received:2018-07-19 Revised:2019-02-26 Online:2019-05-15 Published:2019-05-25

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摘要：

对一种抽展式火星车转移坡道开展柔顺性优化设计和动力学分析。首先，分析火星车与存在异面角的坡道的挤压几何原理。然后，设计坡道的间隙机构和限位机构，并计算出机构关键设计参数的最优值，以自适应调整两侧坡道的距离，〖JP2〗减小火星车与坡道护栏之间的相互作用力。最后，对坡道下落过程和火星车在坡道上的行驶过程进行动力学仿真，验证坡道柔顺性优化设计的效果。结果表明：优化后的坡道柔顺性大幅提高，坡道可以自适应调整两侧的距离；使用优化后的坡道，可以有效降低火星车与坡道护栏的作用力，实现火星车在坡道上的安全行驶。

关键词: 火星车, 坡道, 柔顺性优化设计, 动力学分析

Abstract:

The flexibility optimal design and dynamic analysis for the drawout-expanded ramps are carried out in this paper. Firstly, the geometrical principle of extrusion between a rover and ramps with different angles is analyzed. Then, the clearance mechanisms and limit mechanisms of the ramps are designed, and the optimal values of the key design parameters of the mechanisms are calculated, so as to adjust the distance between the two ramps adaptively and reduce the force between the rover and the ramp guardrails. Finally, the process of the ramps descent and the rover driving on the ramps are simulated to verify the effect of the flexibility optimal design for the ramps. The results show that the flexibility of the optimized ramps are greatly improved, and the distance between the two sides of the ramps can be adjusted adaptively. Using the optimized ramps can effectively reduce the force between the rover and the ramp guardrails, and realize the safe operation of the rover on the ramps.

Key words:  Mars rover, Ramps, Flexibility optimal design, Dynamic analysis

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