Tao Jianguo

Development of Suspension Frame of New Eight-wheel Lunar Rover

To improve the evenness of distribution of the mass of a complete rover on the wheels can improve the consistency of the driving power of rover driving motors,and to improve the passive adaptability of suspension frame on loose terrain can improve the stability and obstacle crossing capability of the rover.Therefore,topological structure synthesis of the suspension frame of eight-wheel lunar rover with passive adaptability to terrain is carried out,and two structural types of usable eight-wheel suspension frames are determined.Then simulation analysis is carried out for the two types of suspension frames in respect of simultaneously crossing vertical obstacle with wheels on the two sides,adaptability to curved terrain,and smoothness and stability of movement of rover body.On the basis of the analysis results,appropriate structural type of the suspension frame of eight-wheel rover is determined, and the composition and working principle of the movement system of that are expounded.ADAMS software is used to optimize the parameters of structure of suspension frame,on this basis structural design of suspension frame and differential mechanism is carried out,and principle prototype is manufactured.Tests of performances of the prototype are carried out in respect of grade climbing and obstacle crossing.The test results indicate that the distribution of load on the wheels is even and the adaptability to terrain is strong.It can climb onto loose sandy land with a slope of 22°and cross an obstacle of 200 mm high.

Dynamics research of the folded-deployable suspension for planetary exploration robot

The dynamics research of folded-deployable suspension of a new planetary exploration robot is carried out. The first three-order natural frequency and vibration mode of planetary robot in folded and deployable states are obtained respectively by finite element simulation analysis; the robots natural frequencies in folded and deployable states are achieved respectively through vertical and horizontal vibration experiment by vibration test bed. The simulation and experimental results are consistent. It can be seen from the comparison that each order natural frequency in folded state is higher than one in deployable state, especially the first order frequency. This can provide a reference for design considered the dynamics effect of planetary robot.