Study On Suspension Structure For Lunar Locomotive And Dynamics Simulation

Lunar rover is the vehicle that can carry special load and complete specificscience exploration task. To be the tool plate of the lunar surface exploration ,lunarvehicle will carry all sorts of sciecce instruments to explorate the lunar surface. Sothe capability of the lunar rover is very important for the lunar surface detectivetask. Lunar rover is the indispensable medium of the lunar detection in theunderway,the pioneer of the astronaut.From 1960s the overseas started to develop lunar rover/planet detect robot,theUSA and Russia tool up the top in the world on the development of lunarruvor/planet. The development of the lunar rover can be divided into somestages:the first stage,1960s, the USA and Russian invent the lunar rover which cancarry and can't carry men.The second stage,1980s, in order to complete themission which to get sample from the Mars the NASA builds the largeexploration,but in the end,this plan was dropped.The third stage,from1 990s ,small Mars rover and lunar ruvor was developed. With the development of the space exploration plan, many internal universityand graduate school carried out the project design and prepared the lunarrover/planet exploration robot.However, in the whole,the development ofexploration robot in our country still exists underway stage,is far away from someHesperian.Because the requisition to the lunar rover/planet exploration robot' reliabilityis very much, taking accout of the particularity of the circumstance in which thelunar rover/planet exploration robot work ,we must take experiment andbetterment through and through to the lunar rover/planet exploration robot'scapability so that it can get with the bad circumstance in the lunar.Thecircumstance in the moon is very special , we can't completely simulate the realcircumstance of the lunar. It is difficult to find the similary conditions to validate,optimize and design the lunar rover/planet exploration robot system,so we can'thave real conditions of the lunar rover/planet exploration robot the system in fact.With the development of the technic of dummy reality,desinger should applydummy reality technic to analyse lunar rover/planet exploration robot's dynamicfeatures. before invent the lunar rover/planet exploration robot physical sample wecan compare all sorts of plans and get the optimum value.This will short the circletime ,save the outlay and improve the feasibility.So simulation technic has beenthe important part of the lunar rover/planet exploration robot.Suspension is one of more important part of lunar rover locomotionsystem.JinLin University Intelligent Vehicle Group advanced one new sort ofsuspension structure--positive and negtive quadrilateral suspension.Thesuspension has the strong ability of transiting complex road surface smoothly andclimbing lange-angle obstacles, because of its better ability for adaptinglandform,smoothly climbing obstacles.Based on the suspension,the research isfollowed:This paper discusses the performance of the different sorts of lunar roverlocomotion systems, and analyses the mechanics condition when encounteringobstacles. Based on the strong ability of lunar rover , we advance the positive andnegtive quadrilateral suspension for lunar rover and elaborate the structure ofsuspension and the moving state of poles when transitting.Through researching,thelunar rover with positive and negtive quadrilateral suspension has the better abilityto adapte road surface and the ability to assist lunar rover to cross obstacles.This paper found kinematics model of suspension's poles .By use of theparameter equation of poles and position, we find the relation of theseparameters.through dividing equation,the transmogrification state and ability ofthe positive and negtive quadrilateral suspension was got. Through initializingcorrelational variable we had the lifting height of wheels in order to obtainmaximum height of obstacles that lunar rover crosses. As the matter of fact, thepositive and negtive quadrilateral suspension lunar rover have the ability ofcrossing bigger obstacle smoothly.This paper discusses the ways to simplify model of lunar rover locomotionsystem and model of lunar rover locomotion system is simplified. Quasi-staticsmodel of the positive and negtive quadrilateral suspension for lunar roverlocomotion system is performed. Through parameterized components, both thequasi-statics equation of lunar rover when crossing obstacles and the correlativecurve-chart are gained .So we should know how these parameters influence thelunar rover when traversing .Through pattern rover test the conclusion is tested:the positive and negtive quadrilateral suspension lunar rover hold the bettertraversing ability than those lunar rover that doesn't apply our suspensionstructure.Based on ADAMS the dummy reality model is found ,including virtualenvironment model,driving system model and lunar rover machine configurationmodel.Through assuming the parameter values,we should simulate and analysisthe datas.In order to verified that the emulational flat roof is reasonable,wecompared the emulational trial to the experiment in reality ,finaly it is validatedthat the flat roof is rational and the dummy reality is useful to estimate , optimizesuspension system.In order to analyze ,estimate and optimize the positive and negtivequadrilateral suspension,we also contrast the positive and negtive quadrilateralsuspension lunar rover with Sojourner based on the primary assessment system oflunar rover locomotion advanced in this paper.It is testified that our lunar rover hasthe better performance than Sojourner.We are subsidized for "lunar rover locomotion performance analyse andsetting apperception methods study based on image disposal" from CAST. JinLinUniversity Intelligent Vehicle Group had produced the principle model rover withthe positive and negtive quadrilateral suspension and had applied nation inventionpatent and practical new type patent at《六轮移动车辆的正反四边形悬架机构》.