Ride Optimization And Analysis On The Rock-Bogie Suspension For Lunar Rover

The research of lunar detection from the last century to now that manned spacecraft engineering of some countries have lots of achievements and has been the key technology at aerospace detection in everycountry.The key technology named suspension structure is a hotspot and difficulty in development of lunar rover. Especially, suspension performance optimization seems harder than others in special environment of lunar surface. Based on rocker-bogie lunar rover, this disseration study on ride comfort of lunar rover in typical lunar surface at these aspects:When lunar rover is detecting and mobiling, the suspension structure is very important.The rocker-bogie suspension have a good performance in link joint and stability.So it is selected as analysis object and analysised in parameters.The equation of kinematics parameters are build by coordinate transformation when lunar rover moving.One side of suspension is selected for optimization because the suspension is symmetrical in two sides.This method can reduce some parameters for setting when simulate and analysis the lunar roverAfter building the parametric lunar rover model,analyzing the lunar environment which near the landing area of lunar rover.As the lunar rover doing detection in flat and rough road,the lunar road should be rebuild in several stations for special lunar environment.This method can effectively for simulating and analysing the lunar rover surface.This dissertation is using sequential quadratic programming (SQP) optimum method for optimizating the objective function.The performance of ride comfort is come up with in the typical lunar surface and served as the objective for optimization.Single-index of lunar rover is optimizating based on ride comfort. And the performance of ride comfort is evaluate by the comprehensive indexes.After several iterations,the optimum value can be get.At last, the optimum lunar rover is verified for obstacle performance and upslope performance.The results show that the optimum lunar rover has a good obstacle performance and upslope performance.