新型八轮月球车悬架的研制

提高整车质量在各轮上分配的均匀性，可提高驱动电动机驱动功率的一致性；提高悬架被动适应松软复杂地形能力，可提高其稳定性和越障能力。因此，对八轮月球车被动适应地形的悬架进行拓扑结构综合，确定两种可用的八轮悬架构型，并对这两种悬架构型进行双侧车轮同时跨越垂直障碍、适应曲面地形和车体运动平稳性仿真分析。根据分析结果，确定适合的八轮月球车悬架构型，针对这种八轮月球车移动系统的组成和工作原理进行了论述。利用ADAMS软件对悬架结构参数进行优选，在此基础上进行悬架和差动装置的结构设计，并加工出原理样机。对原理样机进行爬坡、越障等性能试验，试验结果表明：各轮载荷分布较均匀，适应地形能力强，能够爬上坡度为22°的松软沙地，越过200 mm高的障碍。

Development of Suspension Frame of New Eight-wheel Lunar Rover

To improve the evenness of distribution of the mass of a complete rover on the wheels can improve the consistency of the driving power of rover driving motors, and to improve the passive adaptability of suspension frame on loose terrain can improve the stability and obstacle crossing capability of the rover. Therefore, topological structure synthesis of the suspension frame of eight-wheel lunar rover with passive adaptability to terrain is carried out, and two structural types of usable eight-wheel suspension frames are determined. Then simulation analysis is carried out for the two types of suspension frames in respect of simultaneously crossing vertical obstacle with wheels on the two sides, adaptability to curved terrain, and smoothness and stability of movement of rover body. On the basis of the analysis results, appropriate structural type of the suspension frame of eight-wheel rover is determined, and the composition and working principle of the movement system of that are expounded. ADAMS software is used to optimize the parameters of structure of suspension frame, on this basis structural design of suspension frame and differential mechanism is carried out, and principle prototype is manufactured. Tests of performances of the prototype are carried out in respect of grade climbing and obstacle crossing. The test results indicate that the distribution of load on the wheels is even and the adaptability to terrain is strong. It can climb onto loose sandy land with a slope of 22 ° and cross an obstacle of 200 mm high.