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星球探测车是人类进行星球探测必不可少的工具,为了对星球探测车在实验室内进行崎岖地形上的模拟试验,采用一个具有二维倾角功能的运动平台,并搭配不平路面的模拟来实现崎岖的地形模拟。通过深入研究运动平台的二维运动特性,发现两侧均采用曲柄导杆机构驱动,并同时进行两个方向的倾斜运动时,此空间机构的二维运动具有耦合特性,于是使用补偿铰链来实现对二维耦合运动的解耦。通过对提出的机构进行理论推导分析,并使用仿真与试验进行验证,最终实现了运动平台的两个方向上同时倾斜运动并互不干涉,为星球车崎岖地形模拟试验奠定了基础。
Planetary rover is an indispensable tool for human exploration of the planet. In order to simulate the planetary rover on the rugged terrain in the laboratory, a two-dimensional tilt motion platform is used and simulated with uneven road surface Rough terrain simulation. Through in-depth study of the two-dimensional motion characteristics of the motion platform, it is found that both sides of the motion mechanism are driven by the crank guide mechanism and the two-dimensional tilt motion is performed simultaneously. The two-dimensional motion of the space mechanism has a coupling characteristic, Decoupling two-dimensional coupled motion. Through theoretical deduction and analysis of the proposed mechanism and the verification by simulation and experiment, the tilting motion of the moving platform in both directions is finally achieved without interfering with each other, which lays the foundation for the rough terrain simulation test of the planetary car.