A newly developed four-wheel-rhombus-arranged mobility system for lunar rover was presented. To improve the climbing-capability, the independent active swing arms were integrated with the passive rotary link structure in the mobility system. In order to investigate the climbing-capability, the mechanical judging criterions were put forward based on quasi-static analysis method of the mobility system. The climbing capability of the mobility system was analyzed using the criterions. Due to the adjustment of the swing arms, the influences of swing arms on the climbing-capability were studied. Furthermore, the climbing capability was optimized based on the genetic algorithm method. The results indicate that the climbing capability can be greatly improved in the severe environment.

swing arm, climbing capability, lunar rover, optimization, judging criterion

提出了一种用于月球车的主被动结合的摇臂式移动系统。该移动系统将四个主动摆臂和一个被动连接铰整合在一起,从而提高了越障性能。建立了越障性能的力学判断准则,并利用此准则对移动系统的越障性能进行了分析;考虑主动摆臂的可调整性能,研究了主动摆臂对移动系统越障性能的影响,并基于遗传算法对越障性能进行了优化。对摆臂角度优化的结果表明,主动摆臂可以显著提高移动系统在恶劣环境下的越障性能。

主动摆臂, 越障性能, 月球车, 优化, 判断准则