关键词: 动力学分析, 月球车, 越障能力

Abstract: In order to improve lunar rover’s passing obstacle capability, especially to consider its wheel’s passing obstacle capability, a new lunar rover which adopted parallel suspension system with torsion bar spring and magnetic spring absorber and independent planetary driving wheel is designed and manufactured. The relation between vertical obstacle height and rover parameters is inferred when two front wheels of planetary wheel of lunar rover passes obstacle under the condition that planetary wheel is not overturning. And it is simulated by ADAMS. Dynamics analysis of lunar rover is completed. Planetary wheel equivalent flatness function is determined and 7-DOF rover vibration model is set up based on it. Then the best parameter range of torsion bar spring stiffness and absorber damp are determined. Slop moving test and vertical obstacle passing test research are given. Simulating lower gravity of moon environment, the rover’s low gravity test is done.

Key words: Dynamics analysis, Lunar rover, Passing obstacle capability