月球车差动装置设计与分析
|
摘要
随着深空探测技术的发展,对月球进行探测已被越来越多的国家所重视。月球车作为月球探测的必备工具,要求其具有较高的移动性能。在两点支撑载荷平台式月球车系统中,差动平衡装置作为移动系统的重要组成部分,是不可缺少的,其起到承载月球车本体、平衡月球车本体姿态、协调各车轮载荷分配,提高月球车移动性能的作用。本文提出一种月球车用齿轮-四杆式差动平衡装置结构,并对其进行结构设计、分析及实验研究。
通过分析月球车差动平衡装置的工作特性,得出差动平衡装置在提高月球车移动性能方面具有重要意义。依据月球车差动平衡装置的功能要求,在借鉴国内外相关研究的基础上,提出三种不同的月球车差动平衡装置结构设计方案,优选出一种方案进行分析、设计与加工,并对差动平衡装置原理样机进行差动功能实验验证。
为了解地形崎岖特性对差动平衡装置的动态激励响应,根据多体动力学理论,建立六轮主副摇臂式月球车系统模型。基于松软轮-地相互作用力学理论,利用MATLAB编程软件,对月球车在月面各种典型地形及随机地形中的运动进行计算机仿真研究,得到月球车在各种典型地形环境下行驶时差动平衡装置工作状态的仿真数据,为对月球车差动平衡装置进行分析提供参考,同时为后文进行差动平衡装置测试台设计做准备。
提出月球车差动平衡装置性能测试设备结构方案,并对其进行结构设计,提出测试设备的控制系统及软件系统构架。
With the development of deep space technology, lunar exploration presents its possibility to an increasing number of countries. Working as necessary lunar transportation tools, lunar rovers deserve sufficient research on its mobility. Differential mechanism serves to support the main structure of rovers, and is an irreplaceable part for rovers. Other favored property of differential mechanism includes smoothing main structure's attitude variation and balancing wheel pressures. The paper presents a novel geared& four-bar-linkage differential mechanism. Also presented are its schematic design, analysis and experimental research.
Performance analysis on differential is carried out, validating the positive role it plays to improve the mobility of rovers. According to functional requirement of differential mechanism, three types of conceptual design are brought forward, and one is chosen through comparison to get further researched, analyzed and manufactured. Functional verification and bearing capacity experimental are carried out on differential prototype to validate the research work in this paper.
To have an insight into the differential's response to rugged-terrain excitation, a six-wheeled rocker-bogie rover model is built in Matlab based on multiple-bodies dynamics and wheel-soil interaction terramechanics theory. The performance of differential mechanism during rover's approaching on representative terrains emulating various lunar environments is observed and recorded. The simulation data provides valuable reference for differential design and forms the design requirement of differential test bed.
The last part of this paper is devoted to schematic design and detailed structure design of test bed. Control system and software framework are also elaborated on to implement the work of this paper.
通过分析月球车差动平衡装置的工作特性,得出差动平衡装置在提高月球车移动性能方面具有重要意义。依据月球车差动平衡装置的功能要求,在借鉴国内外相关研究的基础上,提出三种不同的月球车差动平衡装置结构设计方案,优选出一种方案进行分析、设计与加工,并对差动平衡装置原理样机进行差动功能实验验证。
为了解地形崎岖特性对差动平衡装置的动态激励响应,根据多体动力学理论,建立六轮主副摇臂式月球车系统模型。基于松软轮-地相互作用力学理论,利用MATLAB编程软件,对月球车在月面各种典型地形及随机地形中的运动进行计算机仿真研究,得到月球车在各种典型地形环境下行驶时差动平衡装置工作状态的仿真数据,为对月球车差动平衡装置进行分析提供参考,同时为后文进行差动平衡装置测试台设计做准备。
提出月球车差动平衡装置性能测试设备结构方案,并对其进行结构设计,提出测试设备的控制系统及软件系统构架。
With the development of deep space technology, lunar exploration presents its possibility to an increasing number of countries. Working as necessary lunar transportation tools, lunar rovers deserve sufficient research on its mobility. Differential mechanism serves to support the main structure of rovers, and is an irreplaceable part for rovers. Other favored property of differential mechanism includes smoothing main structure's attitude variation and balancing wheel pressures. The paper presents a novel geared& four-bar-linkage differential mechanism. Also presented are its schematic design, analysis and experimental research.
Performance analysis on differential is carried out, validating the positive role it plays to improve the mobility of rovers. According to functional requirement of differential mechanism, three types of conceptual design are brought forward, and one is chosen through comparison to get further researched, analyzed and manufactured. Functional verification and bearing capacity experimental are carried out on differential prototype to validate the research work in this paper.
To have an insight into the differential's response to rugged-terrain excitation, a six-wheeled rocker-bogie rover model is built in Matlab based on multiple-bodies dynamics and wheel-soil interaction terramechanics theory. The performance of differential mechanism during rover's approaching on representative terrains emulating various lunar environments is observed and recorded. The simulation data provides valuable reference for differential design and forms the design requirement of differential test bed.
The last part of this paper is devoted to schematic design and detailed structure design of test bed. Control system and software framework are also elaborated on to implement the work of this paper.
引文
1嫦娥工程月球手册.国防科工委月球探测工程中心,2005：Ⅰ-Ⅱ
2褚桂柏,张镐.月球探测器技术.北京：中国科学技术出版社,2007：1-3
3褚桂柏.论我国月球探测技术的发展.航天器工程.2001,10(3)：47-53
4欧阳自远.月球探测的进展与我国月球探测的科学目标.贵州工业大学学报.2003,32(6)：1-7
5 NASA.2006 NASA strategic plan. NASA.2006,1:1-48
6 Covault Craig,Canaveral Cape. Moon stuck ("Alternate vision" for exploration). Aviation Week & Space Technology.2008,168 (3):24-27
7 Cooke Doug, Yoder Geoff. Lunar architecture update. NASA,2007,9:40
8韩鸿硕,陈杰.21世纪国外深空探测发展计划及进展.航天器工程.2008,17(3)：1-5
9欧阳自远.我国月球探测的总体科学目标与发展战略.地球科学进展.2004,9(3)：355-357
10李舜酩,廖庆斌.星球探测车的研发状况综述.宇航制造技术.2006,11：68-71
11 Anthony H Young. The lunar roving vehicle subsystems [M].New York:USA,Springer New York,1997:198-203
12 GGenta. Vehicles for robotic and manned planetary exploration.57th International Astronautical Congress.2006:1-15
13 CARRIER, W. D. Soviet rover systems. Space Programs and Technologies Conference.1992:1-8
14 J. Kim, B. Agrawal. System Identification and Automatic Mass Balancing of Ground-Based Three-Axis Spacecraft Simulator. AIAA Guidance, Navigation, and Control Conference and Exhibit.2006:1-12
15 Donald B. Bickler. Articulated Suspension. US Patent:US4840394A1,1989
16邓宗全,李所军,高海波.行星探测车被动摇臂悬架的研究与发展.宇航学报.2008.29(6)：1695-11698
17 Bickler,D.The Mars Rover Mobility System. Mechabical Enginceering.1997,(12)
18 Lindemann R A,Voorhees C J. Mars Exploration Rover Mobility Assembly Design,Test and Performance.2005 IEEE International Conference on Man and Cybernetics,Systems 2005(10):Vol.1,450-455.
19高海波,张鹏,邓宗全等.新型八轮月球车悬架的研制.机械工程学报.2008,44(7)：85-86
20尚建忠,罗自荣,张新访等.双曲柄滑块联动月球车设计及样机研制.中国机械工 程.2007,18(3)：348-351
21李允旺,葛世荣,朱华.行星齿轮式差动平衡机构.中国实用新型专利.申请号：200820034725.2,公开号：CN201218316,200904
22王锋.月球车连杆式差速平衡机构的设计与分析.哈尔滨工业大学工学硕士学位论文.2007：10-13
23于文泽.变质心四轮月球车的设计及其移动性能研究.哈尔滨工业大学工学硕士学位论文.2009：11-12
24张明月球车移动系统构型综合与ALR原理样机的研制.哈尔滨工业大学博士学位论文.2010：10-11
25李允旺,葛世荣,朱华.摇杆式移动机器人的齿轮式差动机构研究.机器人.2009,31(3)：234-240
26陶建国,孟宪伟,邓宗全.等.月球车差动平衡机构的建模及仿真[J].机械设计,2007,24(3)：1-5
27毛啸滇.防滑差速器的应用研究.合肥工业大学硕士学位论文.2006：38-39
28 Ridha Hambli,Marian Reszka. Fracture criteria identificationusing an inverse technique method and blanking experiment. In2ternational Journal of Mechanical Sciences,44 (2002),1349-1361
29曹永昌,王维.齿轮副侧隙及计算.沈阳机电学院学报.1984,(1)：99-102
30谭维炽,胡金刚.航天器系统工程.中国科学技术出版社,2009：144-152
31苗恩铭.齿轮侧隙热补偿的精确计算.工具技术.2005,39(9)：36-37
32周海,赵熙萍.齿轮副法向侧隙的计算与控制.机械工程师.2005,(11)：88-89
33周凯红.渐开线齿轮齿根应力的有限元分析.桂林航天工业高等专科学校学报.2005,(2)：6-8
34余志生.汽车理论.北京机械工业出版社1981
35 Z. Janosi, B. Hanamoto. Analytical Determination of Drawbar Pull as a Function of Slip for Tracked Vehicle in Deformable Soils. Proceedings of the 1st International Conference of ISTVES. Torino,1961
36 O. Onafeko and A. R. Recce. Soil Stresses and Deformations Beneath Rigid Wheels. Journal of Terramech,1967,4 (1):59-80
37 J. Y. Wong, A. R. Reece. Prediction of Rigid Wheel Performance Based on Analysis of Soil-Wheel Stresses, Part Ⅰ:Performance of Driven Rigid Wheels. Journal of Terramech,1967,4 (1):81-98.
38 J. Y. Wong, A. R. Reece. Prediction of Rigid Wheel Performance Based on Analysis of Soil-Wheel Stresses, Part Ⅱ:Performance of Towed Rigid Wheels. Journal of Terramech,1967,4 (2):7-25.
39丁亮.星球车轮地作用地面力学模型及其应用研究.哈尔滨工业大学博士学位论 文.2010：42-58
40洪嘉振.计算多体系统动力学.北京：高等教育出版社,1999：98-107
41 K. Yoshida. The SpaceDyn:a Matlab Toolbox for space and mobile robots. Journal of Robotics and Mechatronics.2000,12 (4):411-416
42 Motoaki Shimizu, Tadashi Hiraoka, Koichi Fu.jishima,et al..The Spacedyn a
MATLAB Toolbox for Space and Mobile Robots.Tohoku University Japan,1999:5-17
43李志刚.谐波齿轮传动短杯柔轮的有限元分析及结构优化设计研究.哈尔滨工业大学硕士学位论文.2008：58-59
2褚桂柏,张镐.月球探测器技术.北京：中国科学技术出版社,2007：1-3
3褚桂柏.论我国月球探测技术的发展.航天器工程.2001,10(3)：47-53
4欧阳自远.月球探测的进展与我国月球探测的科学目标.贵州工业大学学报.2003,32(6)：1-7
5 NASA.2006 NASA strategic plan. NASA.2006,1:1-48
6 Covault Craig,Canaveral Cape. Moon stuck ("Alternate vision" for exploration). Aviation Week & Space Technology.2008,168 (3):24-27
7 Cooke Doug, Yoder Geoff. Lunar architecture update. NASA,2007,9:40
8韩鸿硕,陈杰.21世纪国外深空探测发展计划及进展.航天器工程.2008,17(3)：1-5
9欧阳自远.我国月球探测的总体科学目标与发展战略.地球科学进展.2004,9(3)：355-357
10李舜酩,廖庆斌.星球探测车的研发状况综述.宇航制造技术.2006,11：68-71
11 Anthony H Young. The lunar roving vehicle subsystems [M].New York:USA,Springer New York,1997:198-203
12 GGenta. Vehicles for robotic and manned planetary exploration.57th International Astronautical Congress.2006:1-15
13 CARRIER, W. D. Soviet rover systems. Space Programs and Technologies Conference.1992:1-8
14 J. Kim, B. Agrawal. System Identification and Automatic Mass Balancing of Ground-Based Three-Axis Spacecraft Simulator. AIAA Guidance, Navigation, and Control Conference and Exhibit.2006:1-12
15 Donald B. Bickler. Articulated Suspension. US Patent:US4840394A1,1989
16邓宗全,李所军,高海波.行星探测车被动摇臂悬架的研究与发展.宇航学报.2008.29(6)：1695-11698
17 Bickler,D.The Mars Rover Mobility System. Mechabical Enginceering.1997,(12)
18 Lindemann R A,Voorhees C J. Mars Exploration Rover Mobility Assembly Design,Test and Performance.2005 IEEE International Conference on Man and Cybernetics,Systems 2005(10):Vol.1,450-455.
19高海波,张鹏,邓宗全等.新型八轮月球车悬架的研制.机械工程学报.2008,44(7)：85-86
20尚建忠,罗自荣,张新访等.双曲柄滑块联动月球车设计及样机研制.中国机械工 程.2007,18(3)：348-351
21李允旺,葛世荣,朱华.行星齿轮式差动平衡机构.中国实用新型专利.申请号：200820034725.2,公开号：CN201218316,200904
22王锋.月球车连杆式差速平衡机构的设计与分析.哈尔滨工业大学工学硕士学位论文.2007：10-13
23于文泽.变质心四轮月球车的设计及其移动性能研究.哈尔滨工业大学工学硕士学位论文.2009：11-12
24张明月球车移动系统构型综合与ALR原理样机的研制.哈尔滨工业大学博士学位论文.2010：10-11
25李允旺,葛世荣,朱华.摇杆式移动机器人的齿轮式差动机构研究.机器人.2009,31(3)：234-240
26陶建国,孟宪伟,邓宗全.等.月球车差动平衡机构的建模及仿真[J].机械设计,2007,24(3)：1-5
27毛啸滇.防滑差速器的应用研究.合肥工业大学硕士学位论文.2006：38-39
28 Ridha Hambli,Marian Reszka. Fracture criteria identificationusing an inverse technique method and blanking experiment. In2ternational Journal of Mechanical Sciences,44 (2002),1349-1361
29曹永昌,王维.齿轮副侧隙及计算.沈阳机电学院学报.1984,(1)：99-102
30谭维炽,胡金刚.航天器系统工程.中国科学技术出版社,2009：144-152
31苗恩铭.齿轮侧隙热补偿的精确计算.工具技术.2005,39(9)：36-37
32周海,赵熙萍.齿轮副法向侧隙的计算与控制.机械工程师.2005,(11)：88-89
33周凯红.渐开线齿轮齿根应力的有限元分析.桂林航天工业高等专科学校学报.2005,(2)：6-8
34余志生.汽车理论.北京机械工业出版社1981
35 Z. Janosi, B. Hanamoto. Analytical Determination of Drawbar Pull as a Function of Slip for Tracked Vehicle in Deformable Soils. Proceedings of the 1st International Conference of ISTVES. Torino,1961
36 O. Onafeko and A. R. Recce. Soil Stresses and Deformations Beneath Rigid Wheels. Journal of Terramech,1967,4 (1):59-80
37 J. Y. Wong, A. R. Reece. Prediction of Rigid Wheel Performance Based on Analysis of Soil-Wheel Stresses, Part Ⅰ:Performance of Driven Rigid Wheels. Journal of Terramech,1967,4 (1):81-98.
38 J. Y. Wong, A. R. Reece. Prediction of Rigid Wheel Performance Based on Analysis of Soil-Wheel Stresses, Part Ⅱ:Performance of Towed Rigid Wheels. Journal of Terramech,1967,4 (2):7-25.
39丁亮.星球车轮地作用地面力学模型及其应用研究.哈尔滨工业大学博士学位论 文.2010：42-58
40洪嘉振.计算多体系统动力学.北京：高等教育出版社,1999：98-107
41 K. Yoshida. The SpaceDyn:a Matlab Toolbox for space and mobile robots. Journal of Robotics and Mechatronics.2000,12 (4):411-416
42 Motoaki Shimizu, Tadashi Hiraoka, Koichi Fu.jishima,et al..The Spacedyn a
MATLAB Toolbox for Space and Mobile Robots.Tohoku University Japan,1999:5-17
43李志刚.谐波齿轮传动短杯柔轮的有限元分析及结构优化设计研究.哈尔滨工业大学硕士学位论文.2008：58-59