Research On A Repetitive Unfoiding Mast Mechanism Of Lunar Rover

As one important buildup of navigation system of lunar rover, the mastmechanism is used to achieve the effective use of panoramic camera, navigationcamera and thermal mapper and provide the sufficient vision for them. thestructural design, kinematics, dynamics and mode of the mast mechanism onlunar rover are analyzed and researched in this thesis.Based on the research of mast mechanism on planetary rovers at home andabroad, three kinds of schemes are designed and the best one is selected bycomparison. According to the best scheme, the 3-DOF mast mechanism whichcharacterized in simple structure and free revolution is designed. The mastmechanism is not only satisfied with the requirement of view finding, but also canbe expediently assembled in the lunar rover.According to the mast mechanism of lunar rover, the mathematical model ofkinematics is built. The curves about the unfolding process of mast mechanism arederived from the kinematical equation. The curves provide the theoreticalfoundation of mast mechanism control and dynamics analysis.Through building the dynamic model of the mast mechanism, the dynamicequation and its curves of each joints' torque as the mast mechanism beingunfolding are got. The results of theoretical analysis by doing dynamicssimulation is verified with ADAMS.Through doing the mode analysis of finite element model for the mastmechanism with the MSC.Nastran, the natural frequencies and the natural modeof vibration on the mast mechanism are acquired. With the analysis of its ownfrequencies and mode of vibration, the shortcomings in the process of designingthe structure are found out, and then the improvement is proposed. The vibrationtest on the entity of the mast mechanism checks the result of analysis of finiteelement. These provide the condition of further modification and practicality.