Journal of Astronautics ›› 2019, Vol. 40 ›› Issue (5): 501-507.doi: 10.3873/j.issn.1000-1328.2019.05.002

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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


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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