Crawler Manned Lunar Rover Mobile System Design And Performance Analysis Of Movement

Lunar exploration program continues to develop, is now embarking on amanned lunar landing. Manned lunar rover as an important part of a manned lunarlanding, its performance will directly restricts the success of a manned lunar landing.The unique environment of the moon and unstructured terrain, we propose a hybridmulti-joint four track lunar rover mobile systems, mainly for the following work:In the lunar rover design for the environment, truck, sports performance fordetailed study, a comprehensive analysis of a variety of tracked mobile systems andmanned lunar rover configuration, design a manned lunar rover, which according todifferent road conditions, with both passive adaptation but also take the initiative toadjust the position and orientation enabled mobile system. It uses non-slip andflexible track suspension mechanism. Application of MATLAB in the fminconfunction of the mobile system to optimize the size of each component suspension,making folded mobile systems overall size of the smallest. After optimization, thecompletion of the structural design of the agencies, the use of Pro/E to establishthree-dimensional model of the mobile system.Crawler rover for kinematic analysis. Using the D-H method, slip of the lunarsurface in an unstructured establish positive kinematic model, slip factor analysis toderive the mobile system Jacobian matrix, pushed to the moving relationshipbetween the track and the body, as is to prepare the mobile system control.In different road conditions for the lunar rover mobile systems designappropriate forms of exercise, the theoretical analysis of sport performanceprerequisite. Since Crawler manned lunar rover mobile system runs slower, so usingquasi-statics analysis of lunar rover mobile systems through sexual and stability.When the lunar rover mobile system manned, analysis of mass and load changes,build mobile systems through and stability mathematical models, analysis in atypical road conditions rover mobile system can pass through the extremeconditions.In the ADAMS software to create prototype models, different obstaclesimposed on the corresponding motion constraints, simulation analysis, Verify thetheoretical calculations through and stability,draw out the process of mobile systemsobstacle correlation curve of the main components, The final validation of thetheoretical analysis.