Configuration synthesis and performance evaluation metrics of lunar rover locomotion systems |
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Authors: | Zongquan Deng Peng Zhang Haibo Gao Ming Hu |
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Affiliation: | Research Center of Aerospace Mechanism and Control,Harbin Institute of Technology,Harbin 150001,China |
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Abstract: | A method of topology synthesis based on graph theory and mechanism combination theory was applied to the configuration design of locomotion systems of lunar exploration rovers (LER).Through topology combination of wheel structural unit,suspension unit,and connecting device unit between suspension and load platform,some new locomotion system configurations were proposed and the metrics and indexes to evaluate the performance of the new locomotion system were analyzed.Performance evaluation and comparison between two LER with locomotion systems of different configurations were analyzed.The analysis results indicate that the new locomotion system configuration has good trafficability performance. |
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Keywords: | configuration synthesis evaluation metrics locomotion system lunar rover |
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