Structure Design And Analysis Of Six Wheeled Rocker And Bogie Planetary Rover

At present, China is undergoing a rapid development in the field of space exploration, and a number of colleges and universities have designed a variety of rovers.The mobile robot, including mobile systems, navigation systems and communication systems, is a very complex system. As the platform of equipped detection equipment, the mobile systems is the most basic and most important system, whose performance, mobile stability and reliability will certainly and directly affect the success of planetary exploration missions.Under this background, after analyzes of the development of history and research of planetary rover, in consideration of our university's existing resources, this paper decided to design a miniature planetary rover which could passively adapt to the ground.The physical prototype of planetary rover prototype is expensive, so the the feasibility and reliability of the moving system must be ensured theoretically in the early phase of theoretical research and simulation. To this end, this paper will build virtual prototypes in virtual design software to evaluate its, in order to reaching a reliable design, reducing processing and debugging problems due to designing flaws.At first, this paper presents a proposal of micro six-wheeled rocker and bogie planetary rover. Based on the design standard requirements. The wheel driving program for the joint was designed, and the drive motor was selected.After comparison of several proposal, the differential-balance mechanism with planetary gear systems and the proposal of differential steering are selected as balance keeping system and steering system of the rover. Based on this, the whole rover and its important parts were checked in FEM,and a optimization design of the rocker and bogie was established.Furthermore, the D-H method was used to establish the coordinate transformation system of the rover. The equations of transformation coordinate from rover center coordinate to wheel-ground contact coordinate. Used WCM method,the kinematic Equations between rover velocity and wheels driven rotation speed was establish. In the steering Kinematics model,the equation of steering radius?steering angular velocity and the wheel speed was establish,and in the steering dynamic model,the distribution of wheel drive torque was reached.Last but not least, the virtual prototype of the rover was establish in the Adams. Through moving on different ground with obstacle, the excellent smoothness and great capability while climbing obstacle of the rover was verified. On this basis, a series of design and verification work was taken place to prepare well for the establishment of the physical prototype of the micro six-wheeled rocker and bogie planetary rover.