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轮腿式月球车单轮腿机构运动性能仿真分析
Alternative TitleMotion Performance Simulation Analysis of Single Wheellegged Mechanism of Wheel-legged Lunar Rover
余晓流; 杜晓林; 方磊
Department机器人学研究室
Source Publication机械科学与技术
ISSN1003-8728
2011
Volume30Issue:11Pages:1796-1800
Indexed ByCSCD
CSCD IDCSCD:4387230
Contribution Rank1
Funding Organization教育部高校科技创新工程重大项目培育资金项目(708054); 机器人学国家重点实验室开放课题(RLO20081)资助
Keyword月球车 单轮腿机构 三维模型 仿真分析 驱动转矩 仿真曲线 性能试验台 越障 作用力 工况
Abstract为获得轮腿式月球车单轮腿机构的运动性能,以基于二级半转机构的单轮腿机构为研究对象,建立了单轮腿机构性能试验台的三维简化模型和虚拟样机模型,在给定电机转速的条件下对单轮腿机构进行了平地行走和越障工况下的运动仿真分析,得到了单轮腿机构的位置、速度等运动仿真曲线以及电机驱动转矩,跨步杆与地面相互作用力,各级连接轴受力等力学特性曲线。
Other AbstractTo obtain the motion performance of the single wheel-legged mechanism of a wheel-legged lunar rover,we study its single wheel-legged mechanism that uses a double-half-rotating mechanism.We establish the simplified 3D model of its performance test-bed and its virtual prototype model.Given the speed of the driving motor of the single wheel-legged mechanism,we perform the motion performance simulation analysis of its smooth ground walking and obstacle climbing,thus obtaining its position and velocity simulatio...
Language中文
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/7231
Collection机器人学研究室
Corresponding Author余晓流
Affiliation1.安徽工业大学机械工程学院
2.机器人学国家重点实验室
Recommended Citation
GB/T 7714
余晓流,杜晓林,方磊. 轮腿式月球车单轮腿机构运动性能仿真分析[J]. 机械科学与技术,2011,30(11):1796-1800.
APA 余晓流,杜晓林,&方磊.(2011).轮腿式月球车单轮腿机构运动性能仿真分析.机械科学与技术,30(11),1796-1800.
MLA 余晓流,et al."轮腿式月球车单轮腿机构运动性能仿真分析".机械科学与技术 30.11(2011):1796-1800.
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