FRAMEWORK DESIGN AND CONFIGURATION TRANSFORMATION ANALYSIS ON

DEPLOYED LUNAR ROVER WHEEL

QIU Xuesong  DENG Zongquan  HU Ming

(School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001) 

Abstract: A deployed lunar rover wheel is presented to solve the contradiction between the performance requirements and the volume constraints on the lunar rover wheel. Its concept design of the deployed lunar rover is carried out based on the frame-work design and its configuration transformation analysis. Firstly, the primary framework is initiatively confirmed, and then the topological symmetry of the associated members on the topological diagrams is judged. By deleting repetitive associated members, the probable numbers of the practical associated members is determined. On the basis of synthesizing frameworks, all kinds of probable frameworks and their mechanism sketches are achieved. Secondly, satisfying frameworks is obtained by screening mechanism sketches, and then corresponding adjacent matrixes are made according to selected frameworks. Using the features of the adjacent matrix, configuration transformation in the deploying process and the variation range of the degrees of freedom in front-to-back transformation are analyzed on the deployed wheel mechanism. By judging the wheel motion influenced by the associated relationship of selected frameworks, evaluating the quality of all frameworks, verifying the rationality of the designed wheel framework, the framework of the lunar rover wheel is confirmed finally.

Key words: Deployed lunar rover wheel Mechanism synthesis Graph theory Adjacent matrix

CLC No: TH122

国家自然科学基金资助项目(50375032). Received 20051027, received in revised form 20060104