Design And Analysis Of Differential Balance Mechanism For Lunar Rover's Body

Balance mechanism is one of the most important components in the motion subsystem of lunar rover. It will reduce the topography disturbance to the balance of lunar rover's main body and coordinate the motion of the suspension and the wheels and the force acting on them. This thesis will study the elementary prototype of the balance mechanism of lunar rover's main body which bases on the differential mechanism. This elementary prototype will work in the circumstance of the earth.First, after the overall structure of the differential balance mechanism is determined considering the given requirement, the concrete structure of the mechanism is designed with the reference of the design method of the differential which is widely used in autos. The differential gearing system is optimized and more appropriate parameters are got with which the functional requirements can be satisfied and the weight of the mechanism can also be reduced. The surface type structure is adopted on the rocker shift, so the mechanical performance of the differential gearing system and the rocker shifts may be improved.Then the mechanical analysis is carried out. The interacting characteristics of the two rocker shifts'torque and the force acting on the main parts of the mechanism are got, and the deformation in the given circumstances is calculated using the software ANSYS, so the results of structure design can be testified.Finally, in consideration of the characteristics of the differential balance mechanism, a more accurate virtual prototype of the mechanism is established and the simulation is carried out in the software environment of ADAMS. The angular velocity curves of the relevant parts and the natural frequency of the mechanism are got. The results may be helpful to the improvement and the application of the mechanism.