新型主 - 被动悬架式星球车垂直越障性能分析

To solve the problem that the obstacle-climbing ability of the existing planetary rover is restricted due to the large friction coefficient requirement, a novel active-passive suspension six-wheel mobile system with small friction coefficient requirement and strong obstacle-climbing performance is proposed. The mobile system uses a double differential link suspension mechanism to connect three pairs of wheels in the front and rear sections, and has three motion modes; passive, semi-active and active. The kinematics and quasi-staties models of the rover are established, the vertical obstacle-climbing performance of the three modes is analyzed, and the friction coefficient requirement of the wheels to complete the obstacle-climbing is obtained. Using the friction coefficient requirement as the evaluation index, the obstacle-climbing performance of the designed rover mobile system and typical rover mobile systems are compared and discussed. A virtual prototype model of the designed rover mobile system is established to verify the vertical obstacle-climbing performance of the semi-active and active modes. The calculation and simulation results indicate that the vertical obstacle-climbing performance of the designed rover mobile system in semi-active mode is equivalent to that of the rocker-bogie rover, and the vertical obstacle-climbing performance of the active mode is significantly improved compared with the rocker-bogie rover.