基于ADAMS的载人月球车性能分析

以载人月球车为研究对象,对月球车转弯性能和抗倾覆性能进行了理论分析.利用PATRAN和ADAMS建立了月球车车轮、底盘、悬架及月面环境模型,对月球车转弯性能进行了分析,并对月球车爬坡、两侧同时越障、单侧越障、越过沟壑时的俯仰稳定角、滚转稳定角进行了仿真.结论指出:转弯半径随着内外侧车轮转速比的减小而减小,当转速比为0时该月球车模型具有最小转弯半径2.4 m;坡度对俯仰稳定角的不利影响最大,月球车爬坡时俯仰稳定角的减小值与坡度的倾斜角度相等,滚转稳定角受沟壑的影响最大.

The Performance Analysis of Manned-Lunar Rover Based on ADAMS Software

With manned-lunar rover as the research object, the turning and anti-overturning performance of the rover is analyzed theoretically, a simulation model of the wheel, chassis, suspension is build with PATRAN and ADAMS software, combined with the environment model of lunar surface, the turning radius is simulated, the pitch and roll stability angle are simulated when the rover is climbing, crossing the barrier on both sides and one side, and crossing the crevasses. The results turn out to be that: the turning radius decreases with decrease of the speed ratio between the inner and outer wheels, this model owns the smallest turning radius when the ratio is zero; the slope offers the pitch stability angle with the worst influence, the pitch stability angle will reduce by a value which is the same as the gradient of the slope, and the roll stability angle would mostly deteriorate when the rover is crossing the crevasses.