Design and Analysis of a Lunar Crewed Vehicle with a Novel Versatile Compliant Suspension Mechanism

Journal of Mechanisms and Robotics Pub Date : 2024-02-19 DOI:10.1115/1.4064814

Haibo Gao, Runze Yuan, Zhen Liu, Renchao Lu

{"title":"Design and Analysis of a Lunar Crewed Vehicle with a Novel Versatile Compliant Suspension Mechanism","authors":"Haibo Gao, Runze Yuan, Zhen Liu, Renchao Lu","doi":"10.1115/1.4064814","DOIUrl":null,"url":null,"abstract":"\n A Lunar Crewed Vehicle(LCV) with improved manoeuvrability, mobility and ride comfort is required for astronauts to conduct long-range scientific investigations and resource utilisation on the Moon's surface. This paper concentrates on designing a novel multifunctional compliant suspension for LCV to improve the above mentioned performance. Firstly, based on the requirement of high-speed traversing on the rough Lunar terrain, the required type of suspension motion is identified and the demanded suspension mechanism is obtained through structural evolution. Then, the kinematic analysis of the proposed suspension mechanism is conducted, and the steering kinematic model of the whole vehicle is established. A compliance analysis is completed, taking into account the actual design characteristics of the suspension mechanism. A multi-degree-of-freedom dynamics model of the vehicle is developed, considering both wheel-ground separation and the deformation of wheels and soil. Simulations are conducted to verify full vehicle performance with the proposed suspension, and the results reveal that the design features better mobility and comfort in rough terrain with minimum turning radius, peak longitudinal acceleration and root-mean-square reduced by 9.5%, 45.1%, and 21.4%, respectively","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2024-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Mechanisms and Robotics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1115/1.4064814","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 0

Abstract

A Lunar Crewed Vehicle(LCV) with improved manoeuvrability, mobility and ride comfort is required for astronauts to conduct long-range scientific investigations and resource utilisation on the Moon's surface. This paper concentrates on designing a novel multifunctional compliant suspension for LCV to improve the above mentioned performance. Firstly, based on the requirement of high-speed traversing on the rough Lunar terrain, the required type of suspension motion is identified and the demanded suspension mechanism is obtained through structural evolution. Then, the kinematic analysis of the proposed suspension mechanism is conducted, and the steering kinematic model of the whole vehicle is established. A compliance analysis is completed, taking into account the actual design characteristics of the suspension mechanism. A multi-degree-of-freedom dynamics model of the vehicle is developed, considering both wheel-ground separation and the deformation of wheels and soil. Simulations are conducted to verify full vehicle performance with the proposed suspension, and the results reveal that the design features better mobility and comfort in rough terrain with minimum turning radius, peak longitudinal acceleration and root-mean-square reduced by 9.5%, 45.1%, and 21.4%, respectively

查看原文本刊更多论文

设计和分析采用新型多功能顺应式悬挂机制的月球载人飞行器

宇航员在月球表面进行远距离科学考察和资源利用时，需要一种具有更好的机动性、移动性和乘坐舒适性的月球乘员车（LCV）。本文的重点是为 LCV 设计一种新型多功能顺应式悬架，以提高上述性能。首先，根据在月球崎岖地形上高速穿越的要求，确定了所需的悬挂运动类型，并通过结构演化获得了所需的悬挂机构。然后，对提出的悬挂机构进行运动学分析，并建立整车的转向运动学模型。考虑到悬挂机构的实际设计特性，完成了顺应性分析。考虑到车轮与地面的分离以及车轮和土壤的变形，建立了车辆的多自由度动力学模型。结果表明，该设计在崎岖地形中具有更好的机动性和舒适性，最小转弯半径、峰值纵向加速度和均方根分别降低了 9.5%、45.1% 和 21.4%。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Journal of Mechanisms and Robotics

自引率

0.00%

发文量