Dynamic Simulation Of Wheel-soil Contacting And Design Of Mobile Mechanism

Researches focus on enlarging the work scope of the robot is always the most important part of the robotics research. Lunar rover is a mobile robot used to detect the complex terrain, the research on mobility of lunar rover is a focus in mobile mechanism research.After "Chang'e" project of China started, research on lunar rover is setting off in the country, but a simulation system make the vehicle mobility be accurately assessed is rare, and such kind of system have done significant contribution to the successful lunar rover development of the USA and Russia. According to such situation, inherit the achievements of predecessors, a mobility evaluation method is proposed. Secondary development Combine with the virtual prototyping technology and wheel-soil contacting dynamics knowledge is done by the dynamic simulation software ADAMS, in order to get a more accurate simulation of real lunar rover driving condition, a lunar rover virtual prototyping which consider of the interaction between the wheel and soil is established by programming. On the basis of the simulation results, a series of indicators to evaluate the lunar rover mobility are proposed to improve the rover design.Another part of the paper, two special mobile mechanism design scheme are proposed based on the comprehension of the research of mobility and the studying of the domestic and foreign research of mobile mechanism. The feasibility is analyzed by theoretical analysis and dynamic simulation of virtual prototype, and finally part of the physical prototype is designed and manufactured. The results show that the mobility especially the obstacle performance of these mobile mechanisms is outstanding, and it is necessary to continue for the further study.