Evolving Legged Rovers for Minor Body Exploration Missions

2010 Second International Conference on Information Technology and Computer Science

Fan

et al. 2010

Based on the motion characteristics of doublehalf-revolution mechanism, a new-style wheel-legged lunar rover was proposed. In order to evaluate its maneuvering performance, the performance experiment of single wheellegged mechanism is needed. To simulate the loading conditions of single wheel-legged mechanism when the lunar rover is walking in flat ground, climbing up a slope or walking sideways in a slope, this paper analyzed their statics under the above three conditions, and set up their force models respectively. Using MATLAB software, the pressure loads which applied on each wheel-legged mechanism under the above three conditions are simulated, and their curves are given. The results provide a loading reference for the performance experiment of single wheel-legged mechanism.

Section: Introductionmentioning

confidence: 99%

Force Model and its Simulation Analysis of Wheel-legged Lunar Rover

2010 Second International Conference on Information Technology and Computer Science

Fan

et al. 2010

“…The wheel-legged lunar rover combines the advantages of wheeled and legged mechanism, so it has good mobility and self-adaptive capacity in the complex lunar surface environment. Therefore, many scholars have made a lot of correlative theoretical research and experimental analysis for the wheel-legged lunar rover [1][2][3].…”

Section: Introductionmentioning

confidence: 99%

Rolling Bearing Finite Element Contact Analysis and Lectotype Design for Lunar Rover Wheel-Legged Mechanism

Fan

2011

KEM

Taking the wheel-legged lunar rover based on double-half-revolution mechanism as a research object, this paper has made a dynamics simulation for the simplified virtual prototype model of lunar rover under several typical road conditions, with the purpose of obtaining the load applied on each bearing of lunar rover wheel-legged mechanism. On the basis of simulation analysis, static contact analysis for the wheel-leg rolling bearing was made by the finite element analysis software ANSYS. Through the finite element analysis for the rolling bearing, the maximum contact stress and deformation of the rolling body sustained the maximum force were obtained. The results will provide the new analytical method and basis for the optimization and lectotype design of the lunar rover wheel-leg rolling bearing.

“…According to the configuration of travelling mechanism, it can be divided into wheeled, tracked and legged type, etc. For various types of travelling mechanism, many scholars have done a great deal of theoretical analysis and experimental research in order to provide a theoretical basis for exploration rover design [1][2][3][4]. Compared to the propulsion mode of wheeled or tracked type, walking mechanism has unique advantages, such as good mobility and adaptability of road surface, and is able to walking on the undulate terrain or soft ground with little less efficiency [5].…”

Section: Introductionmentioning

confidence: 99%

A New-Style Bionic Walking Mechanism and Its Motion Simulation

2009 Second International Conference on Intelligent Computation Technology and Automation

Chi

et al. 2009

Abstract-Based on the principle of double-half-revolution mechanism, this paper designed a new-style bionic walking mechanism by using two tandem planetary gear trains, which is composed of one first swiveling arm, one second swiveling arm, two striding rods and mechanism bracket, etc. The first swiveling arm and second swiveling arm are the planet carriers (also as gearbox casings) of the planetary gear trains respectively. On the basis of analysis of interference and motion coupling relationship of joints, non-interference condition of the bionic walking mechanism was obtained. Motion simulation was done in COSMOS Motion software, and the motion path curves of rotating joints of the bionic walking mechanism were obtained. Simulation shows that the fluctuation of the bionic walking mechanism is small and it meets the mobility of exploration.