• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

›› 2012, Vol. 48 ›› Issue (19): 1-9.

• 论文 •    下一篇

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具有解耦功能的二维倾角模拟装置

高海波;梁忠超;丁亮;邓宗全;曲建俊   

  1. 哈尔滨工业大学机电工程学院
  • 发布日期:2012-10-05

Imitation Device of 2-dimesional Inclination with Function of Kinematics Decoupling

GAO Haibo;LIANG Zhongchao;DING Liang;DENG Zongquan;QU Jianjun   

  1. School of Mechatronics Engineering, Harbin Institute of Technology
  • Published:2012-10-05

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摘要： 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。

关键词: 二维倾角, 模拟装置, 崎岖地形, 载人月球车

Abstract: Planet exploration rover is indispensable in the human’s exploration mission. A 2-dimensional inclination platform is needed to imitate the rough terrain in order to have the experiment of the rough terrain of the rover in the laboratory on the earth. The platform has the characteristics of kinematics decoupling when rotating by 2 different axes if using the slider crank mechanism to drive both sides. Thus application of decoupling-compensation hinges can solve it. The theoretical derivation of this mechanism is discussed, and verified by simulation. 2-DOF inclination without kinematics interference of the platform is realized, and built the foundation of the planet exploration experiment on the rough terrain.

Key words: 2-DOF inclination, Imitation device, Lunar roving vehicle, Rough terrain

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