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车体平衡机构是摇臂悬架式月球车移动系统的重要组成部分,起到调节摇臂悬架运动和受力,减小主车体因地形变化所受的扰动作用。基于轮系式月球车车体差动平衡机构的结构设计,综合考虑了轮齿啮合刚度、摇臂轴扭转变形及齿轮传动回差的影响,建立了虚拟样机模型,在ADAMS软件环境下进行了动态仿真分析,得出该机构的动态特性,为该机构的改进及其在月球车上的实际应用提供了参考依据。
The body balance mechanism is an important part of the mobile system of the rocker arm suspension lunar rover. It plays the role of adjusting the movement and force of the rocker arm suspension and reducing the disturbance of the main body due to the terrain variation. Based on the structural design of the vehicle body differential balance mechanism of the lunar rover lunar rover, the virtual prototype model was established considering the meshing stiffness of the gear teeth, the torsional deformation of the rocker arm shaft and the hysteresis of gear transmission. The ADAMS software environment The dynamic simulation analysis shows that the dynamic characteristics of the mechanism provide a reference for the improvement of the mechanism and its practical application on the lunar rover.