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In order to provide a steady platform for scientific instruments, decrease the energy consumption, it is important to analyze and improve the mobility performance of lunar rovers. The mobility performance indexes are built based on four kinds of work conditions by summarizing the lunar surface terrain characteristics. The performance of overturning stability, load equalization of the wheels and trafficability...
Virtual simulation is of great importance for both the research and development phase and the tele-operation phase of a lunar rover. The role and state-of-the-art of rover's simulation is introduced in the beginning. Comprehensive high-fidelity/high-speed virtual simulation system for lunar rover is designed in accordance with the developing trend. Key technologies such as terramechanics and recursive...
In order to analyze the performance of lunar rover, draw bar pull and motion resistance are analyzed in this paper based on terramechanics. The relationships between configuration parameters (like wheel width, wheel bases et al.) and mobility performance parameters are obtained from the analysis. Meanwhile, the sensitive factors of the motion resistance are found. Then main performance evaluation...
The capability of the lunar rover driving off the lander successfully and restoring to well-balanced state from unsteady state is very important to fulfill the exploration. The design method is presented to improving the two-wheeled lunar roverpsilas capability of anti-overturning, the spherical crown end closure is adopted by the design of wheel. The mathematics model is built to describe the necessary...
Motion control of a lunar rover is precondition of accomplishing exploration tasks. In order to minimize the power consumption, the power optimum control was carried out for a lunar rover prototype with six cylinder-conical wheels in wheel-walking motion mode. In terms of mechanism principle and configuration features of the lunar rover, the kinematics model of wheel-walking motion was built up. The...
Vibration analysis is an important route for improving the driving smoothness and stability of lunar rover. The structure characteristic of the eight-wheel lunar rover with tension-bar and rocker structure is that the ground flatness inputs of each two wheels hinged by the same rocker are intercoupling. The ground flatness excitation is equivalently transformed, which is the main excitation source,...
This paper analyses the motion of articulated lunar Rover with six cylinder-conical wheels and force acting to wheels, and presents six operation patterns of motion of rover' wheel and The free-running operation pattern is perfect. In this pattern, the power dissipation between of mechanisms is minimum. The different mode of motor has influence on stability of motion in various terrains. We analyze...
To improve the driving smoothness and stability of lunar rover and reduce the vertical dynamic deflection, this paper sets up vibration model for seven degree-of-freedom lunar rover, presents the calculation method for vibration differential equation and frequency response function, and derives the equation for the vertical dynamic deflection of the rover suspension system based on the ascertaining...
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