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Abstract: In order to improve lunar rover’s passing obstacle
capability, especially to consider its wheel’s passing obstacle
capability, a new lunar rover which adopted parallel suspension system
with torsion bar spring and magnetic spring absorber and independent
planetary driving wheel is designed and manufactured. The relation
between vertical obstacle height and rover parameters is inferred when
two front wheels of planetary wheel of lunar rover passes obstacle under
the condition that planetary wheel is not overturning. And it is
simulated by ADAMS. Dynamics analysis of lunar rover is completed.
Planetary wheel equivalent flatness function is determined and 7-DOF
rover vibration model is set up based on it. Then the best parameter
range of torsion bar spring stiffness and absorber damp are determined.
Slop moving test and vertical obstacle passing test research are given.
Simulating lower gravity of moon environment, the rover’s low gravity
test is done.
Key words: Lunar rover Passing obstacle capability Dynamics
analysis
CLC No: V476.3
国家自然科学基金资助项目(50375032).
Received 20050217, received in revised form 20050907
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