Design and kinematic analysis of differential-balance mechanism for planetary exploration rover

被引：0

作者：

Cheng, Zhi-Hong ^{[1
]}

Wei, Yi-Long ^{[2
]}

Niu, Hui ^{[1
]}

Zhou, Chun-Hua ^{[1
]}

Li, Zhong-Kai ^{[1
]}

机构：

[1] School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou

[2] Test Center of China Coal Research Institute, Beijing

来源：

Yuhang Xuebao/Journal of Astronautics | 2015年 / 36卷 / 05期

关键词：

Differential-balance mechanism; Mobile system; Planetary exploration rover; Suspension;

D O I：

10.3873/j.issn.1000-1328.2015.05.006

中图分类号：

学科分类号：

摘要：

By considering design requirements for the support-mechanism used to connect cab body with each side suspension which used in mobile system of planetary exploration rover, a new type of differential-balance mechanism is proposed in this paper. Proper space arrangement, larger rocker swing range and linear-average character result in good effect of application of this mechanism in mobile system. The input-output relationship is discussed first, and the specific position-pose expression between the cab body and rockers is given. Then pitch angle equation between the cab body and rockers is built up by use of the method of rotational transform. Tests are followed by simulations in Pro/Mechanism to validate the correctness of theoretical model, and the validated model is used to analyze the effects of partial parameters on linear-average character, and swing angle range of the ball-link in each defined direction, providing a basis for structure design and assembly of the mechanism. Finally, the application of this mechanism in 6-wheel guide-bar linkage suspension is displayed. ©, 2015, China Spaceflight Society. All right reserved.

引用

页码：524 / 532

页数：8

共 16 条

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