Analysis And Experiments Of Transfer Characteristics On Ramp Transfer Mechanism For Mars Rover

According to the task demand of Mars rover transfer project in China,this paper comes up with ramp transfer mechanism which is lightweight and high reliability aims at transferring the Mars rover from the landing platform to the Mars surface safely.This paper focuses on analysis transfer characteristics of ramp by theoretical and experiments research.Firstly,the paper carry out multi scheme design of transfer mechanism for Mars rover.Combined with the star rover transfer mechanism which has been successfully applied,5 kinds of transfer mechanism schemes for Mars rover have been put forward,and the paper selects one of them as project implementation plan.Then,according to the uncertainty of ramp transfer attitude,based on space analytic geometry and kinematics theory,establish transfer attitude analysis mathematical model of ramp transfer.This paper analysis the minimum length of ramp which meets transfer security requirement and aquire the transfer limit attitudes.The dynamic simulation of the transfer process of the Mars rover of 7 kinds of limit transfer attitudes is carried out,and aquire the load boundary of the ramp.In addition,the detailed function design and structure design of ramp transfer mechanism are carried out in this paper.The detailed design of the structure including supporting and guiding parts,ramp parts,swing parts and pumping driving parts has been completed.And the paper compares and optimize cross-section configuration of the ramp;based on the principle of virtual displacement,analysis unlocking force of the swing components,and verified by means of simulation;the stiffness characteristics of the ramp is simulated by finite element method?Finally,mars rover ramp transfer attitude simulation platform is completed for the transfer characteristics experiments research.According to the transfer attitude analysis results,simulate limit ramp transfer attitude in the laboratory take advantage of the platform to carry out experimental study on the ramp transfer characteristics,including rack anti-skidding characteristic test,experimental study of rover attitude angle test,mechanical properties test of transfer ramp.