The Design And Analysis Of The"Four-Wheel-Three-Axial" Lunar Locomotion System

China’s lunar exploration project is divided into three stages range from "round" to "down" to "return". The second stage "down" means down to the surface of the lunar, includes the soft landing and the inspect survey of the lunar surface. The lunar rover (rover for short) is the main device of this inspect survey. The locomotion system carries with many scientific devices drives across the lunar surface and makes scientific inspects. As a mobility subsystem of the rover, the locomotion system is required to adapt to the harsh evironment of the lunar surface, which includes rapid change in temperature (from-180℃to150℃), high-vacuum (from10-9Pa to10-13Pa), and low-gravity (g/6). High mobility and high reliability is also important. Besides, the environment of the lunar surface is extremely complex and much unknown. So, the design of the lunar locomotion system will be both critical and difficult.A research of a new "four-wheel-three-axial" lunar locomotion system will be developed in this thesis, aimed to provide alternatives scheme.for the rover subsystem of the second lunar mission of China.Firstly, a new "four-wheel-three-axis" locomotion system is put forward after analyse the requirements and the constraints of the second lunar mission of China. The design of the locomotion system is competed, includes concept design, key components design, anti-heat-leakage design, Seal and Lubrication. This thesis proposes a new pattern of wheel and also analyzes its anti-subsidence properties. Secondly, the mechanical analysis model of the "four-wheel-three-axis" locomotion system is established by the ANSYS software. Then this model is computed in the strength cheking of the key components and the resonance analysis of the locomotion system. It also makes intensity examination for the bottom plane and the fixed station of the rover. Thirdly, analysis of the mobility of this locomotion has been taken place includes the lunar environment adaptability, the climbing ability, the drive efficiency and the power consumption. Then, a mobility comparison between "four-wheel" locomotion and "six-wheel" locomotion is also been taken place. This new locomotion can adapt the lunar environment with light weight, high flexibility, high reliability, and high adaptability to failure mode.