宇航学报

宇航学报 ›› 2015, Vol. 36 ›› Issue (5): 524-532.doi: 10.3873/j.issn.1000-1328.2015.05.006

• 飞行器设计与力学 • 上一篇    下一篇

行星探测车连杆式差动平衡机构设计及运动学分析

程志红，魏毅龙，牛辉，周春华，李中凯   

  1. 1. 中国矿业大学机电工程学院，徐州221116；2. 煤炭科学研究总院检测研究分院，北京100013
  • 收稿日期:2014-05-21 修回日期:2015-01-06 出版日期:2015-05-15 发布日期:2015-05-25
  • 基金资助:

    国家自然科学基金（51475459）

Design and Kinematic Analysis of Differential Balance Mechanism for Planetary Exploration Rover

CHENG Zhi hong, WEI Yi long, NIU Hui, ZHOU Chun hua, LI Zhong kai   

  1. 1. School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116，China;
     2. Test Center of China Coal Research Institute, Beijing 100013，China
  • Received:2014-05-21 Revised:2015-01-06 Online:2015-05-15 Published:2015-05-25

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摘要：

根据行星探测车移动系统连接车体与左右两侧悬架的支撑机构的设计要求，提出一种对称的空间连杆式差动平衡机构，合理的空间布置、较大的摇臂摆角范围和良好的线平均性使其在移动系统中的运用取得较好效果。首先分析了机构的输入输出关系，给出车体与摇臂位姿关系的表达式。然后运用旋转变换的方法建立该差动平衡机构车体与左右摇臂的俯仰角位移方程。再运用Pro/Mechanism仿真校验理论模型的正确性，并运用校验后的理论模型分析部分参数对该差动平衡机构摇臂摆角范围和线性均化特性的影响，求解球铰连杆上下球面副相对主平面和在主平面内的转角范围，为机构的结构设计和装配提供了依据。最后展示了该机构在6轮导杆联动式悬架上的应用。

关键词: 行星探测车, 差动平衡机构, 移动系统, 悬架

Abstract:

By considering design requirements for the support-mechanism used to connect cab body with each side suspension which used in mobile system of planetary exploration rover, a new type of differential-balance mechanism is proposed in this paper. Proper space arrangement, larger rocker swing range and linear-average character result in good effect of application of this mechanism in mobile system. The input-output relationship is discussed first, and the specific position-pose expression between the cab body and rockers is given. Then pitch angle equation between the cab body and rockers is built up by use of the method of rotational transform. Tests are followed by simulations in Pro/Mechanism to validate the correctness of theoretical model, and the validated model is used to analyze the effects of partial parameters on linear-average character, and swing angle range of the ball-link in each defined direction, providing a basis for structure design and assembly of the mechanism. Finally, the application of this mechanism in 6-wheel guide-bar linkage suspension is displayed.

Key words: Planetary exploration rover, Differential-balance mechanism, Mobile system, Suspension

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