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首页> 外文期刊>Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods >Design and analysis of a compliant variable-diameter mechanism used in variable-diameter wheels for lunar rover
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Design and analysis of a compliant variable-diameter mechanism used in variable-diameter wheels for lunar rover

机译：月级流动站可变直径车轮柔顺径向机构的设计与分析

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摘要

Variable-diameter wheels have two limited working statuses: the unfolded limit rimless wheel and the folded rigid circular wheel. These can solve the contradiction between tractive performance and the limited spacecraft volume of the lunar rover. The variable-diameter mechanism proposed here is the most critical part. It allows the wheel to transform its structure using expansion-retraction motion and to possess excellent running performance. A novel compliant mechanism configuration with helical torsion springs is introduced, along with its mechanism principles. Based on two extreme wheel statuses, a two-position motion generation using nonlinear optimization synthesis is used to determine the dimensional parameters of the mechanism. The load-deflection behavior is derived by developing a pseudo-rigid-body model for the mechanism. Load-deflection relationships obtained from the pseudo-rigid-body model are compared with the results of finite element analysis (FEA) simulations. The results show that the predictions made by the pseudo-rigid-body model (PRBM) are in good agreement. Overall, the design and analysis approaches proposed here are applicable for variable-diameter mechanisms. In addition, the load-deflection relationships presented can provide theoretical references for the variable control of the wheel diameter. (C) 2018 Elsevier Ltd. All rights reserved.
机译：可变直径的轮子具有两个有限的工作状态：展开的极限无齿轮和折叠的刚性圆形轮。这些可以解决牵引性能与月级流动站的有限航天器体积之间的矛盾。这里提出的可变直径机制是最关键的部分。它允许车轮使用膨胀 - 缩回运动来改造其结构，并具有出色的运行性能。引入了一种具有螺旋扭簧弹簧的新颖柔顺机构配置，以及其机构原理。基于两个极端轮状态，使用非线性优化合成的双位置运动生成来确定机构的尺寸参数。通过开发机构的伪刚性模型来导出负载偏转行为。将从伪刚性模型获得的负载偏转关系与有限元分析（FEA）模拟的结果进行比较。结果表明，伪刚体模型（PRBM）的预测良好一致。总的来说，这里提出的设计和分析方法适用于可变直径机制。此外，所提供的负载偏转关系可以为滚轮直径的可变控制提供理论参考。 （c）2018年elestvier有限公司保留所有权利。

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