可变直径轮月球探测车运动学建模与分析

针对月球探测的特殊要求,设计了具有滚动扭转转向特性的四轮直径可变月球探测车.通过对可变直径轮的原理进行分析,推导出车轮等效半径的公式.根据该月球探测车的结构特点,以闭链坐标变换和瞬时重合坐标法为基本工具,推导了四轮可变直径轮月球车基于三维地形环境的正、逆运动学模型,分析了相关的运动学特征,提出了运动学逆解的理论解法和实用解法.实用解法有效地降低了计算量.并提出了用车轮等效半径调整探测车辆俯仰角度的方法,提高了月球车的稳定性和通过性能.该研究结果为四轮月球探测车的结构分析与运动控制提供了有力的基础.

Kinematic modeling and analysis of variable diameter wheeled lunar rover

According to the lunar surface environmental characteristics,a new four variable diameter wheeled lunar rover which consists of a rolling-torsion all wheel steering mechanism was developed.Through the principle analysis of the variable diameter wheel,derived the wheel equivalent radius formula.The calculation formulae based on 3-D environment of positive and inverse kinematics were derived with the method of closed chains coordinates transformation and instantaneous coordinate coincidence founded on the structural characteristic.The kinematic features were analyzed.The theoretical solution and practical solution were deduced.This practical solution can reduce the calculation load.A simplification method of adjusting the pitch angle with the charge of the equivalent radius was suggested.This method can improve the mobility and stability.The results provide the theoretical foundation for structural analysis and motion control of the four-wheeled lunar rover.