Design And Analysis Of Differential Bar Linkage On Luner Rover

Along with the development of the outer place exploration, there are many countries or organizations have taken on the studying on this aspect in succession. Rover,as the most important equipment for celestial body exploration , is demanded to have highly locomotion ability. Bodywork balance mechanism is very important to six-wheeled rocker-bogie lunar rover driving on the celestial body ground, which can harmonize the locomotion and force of the suspension and wheels. This paper presents a design and analysis of differential bar linkage that is one of the bodywork balance mechanism.Firstly, a type of mechanism is designed which can satisfies the function demand relying on its own characteristic, and get the optimistic dimensions of each part.Secondly, the 3-dimensional simulation model of this mechanism on lunar rover is formed by software ADAMS, and then kinematics calculation and simulation of the mechanism on a lunar rover model is carried out, which validate correctness of the kinematics model and the mechanism's contribution to rover locomotion stability, and provide theoretical foundation for application and dynamic analysis of the mechanism.Thirdly, the structure design is carried out of this mechanism, and then improved design is made using finite element calculation in software Patran. Using the simulation model formed in software ADAMS, analysis the differences of wheels opposite ground forces between six-wheeled rocker-bogie lunar rover models with and without a differential bar linkage.Finally,Design and machining experimental equipments, and validate its function characteristic through experimentation.