Design And Performance Study Of Passive Suspension System For Manned Lunar Rover

The suspension system of the manned lunar rover plays a role in power transmission and cushioning between the wheels and the body of the lunar rover.It is an important part that affects the vehicle's obstacle performance,anti-overturning performance,handling stability,and ride comfort.Due to the large difference between the lunar surface environment and the ground environment,especially all parameters of the structural design of the suspension system under the low gravity field are affected,in order to make the manned lunar vehicle have the smoothness,comfort and handling stability close to the ground vehicle,It is necessary to specially design and analyze the suspension form of the lunar rover.This article refers to the Apollo manned lunar rover and off-road vehicle to choose the type of suspension structure,designed the main parameters of the suspension,the arrangement of the steering mechanism and the specific structure of each part.The forces of suspension system under different working conditions are analyzed and calculated.The kinematics and dynamics model of the lunar rover suspension system was established.The kinematic relationship between the rod members of the guide mechanism was deduced by calculation,the kinematic characteristics of the suspension were analyzed,and the natural frequency and vibration mode of the suspension system were calculated.An equivalent vibration model was established by using Simulink module in Matlab.The time and frequency response of the suspension system under external excitation was studied.The influence of suspension parameters on the dynamic performance of the system was compared and analyzed.Based on ADAMS/View,a parametric model of the lunar rover quarter suspension system was established and obstacle simulation was performed to obtain the time-varying curve and power spectral density of the dynamic response parameters of the suspension system under different unsprung masses and damping ratios.The comparative analysis verifies the rationality of the suspension parameter selection.In addition,the workbench module in Ansys software was used to analyze the stress and modal of the suspension system to verify the structural effectiveness and determine the available vibration frequency range.Based on the method of slope component force,a low-gravity experimental platform is designed,which mainly includes the mechanical structure part and the measurement and control system part.According to the experimental principle,a simulation model for testing the suspension system using the experimental platform was established in Adams.The results of the simulation using this experimental platform and the simulation under the lunar gravity field were compared.The sources of error were analyzed and compensated.The feasibility of the scheme is verified.