【摘要】 为了提高月球车运动时车体平稳性和车轮承力平衡性,设计了连杆式差速平衡机构,利用ADAMS软件建立了该机构的三维仿真模型,对其进行了运动学建模、计算和运动仿真,分别获得了机构主要构件运动计算数据曲线和运动仿真曲线,对比验证了建立的运动学模型的正确性和设计的差速平衡机构对车体运动平稳性的作用,样机实验结果与理论计算及仿真结果较好吻合,进一步验证了分析方法和结论的正确性.更多还原

【Abstract】 To improve the body stability and force balance on wheels of a lunar rover,a differential bar linkage was designed and the 3-dimensional simulation model of this mechanism on lunar rover was established by software ADAMS.The kinematics equations of the mechanism on a lunar rover model were given,and the calculation was carried out and contrasted with simulation.The results validate the correctness of the kinematics model and the mechanism’s contribution to rover locomotion stability.Experimental results of a mechanism prototype on a rover agree well with the calculation and simulation results.更多还原