4三维总装图
摘要
火星是太阳系八大行星之一，是除了金星以外，距离地球最近的行星。对于火星的探测也充满了坎坷，大约三分之二的探测器，特别是早期发射的探测器，都没有能够成功完成它们的使命。为了完成具有重要意义的火星探测任务，在现今还无法将人类送上火星的情况下，火星环境探测车(MER)的研究将非常有必要。
本文主要任务是对火星环境探测车的结构进行设计。主要涉及行走机构、车身结构以及钻探机构的结构设计。通过对此类探测车的工作时的分析，并计较了当前几种行走机构的优缺点，初步选定了行走机构的方案，并在进行了大量资料的查阅之后，设计了一种以六轮腿作为行走机构的火星环境探测车，该机构具有较好的灵活性和机动性，在避障这点上的优势较为明显。在钻探机构的设计上，仿照了地基钻孔机，利用气缸使钻头可以上下提升，既不影响正常行走，又能钻下地表1m的深度。整个机体则采用了建筑学中的桁架结构，这种结构是由直细杆组成的三角形单元的平面或空间结构。荷载作用下，桁架杆件能充分利用材料的强度，这使整车在足以保证支撑刚度的前提下更加轻便，且为以后的控制和布局设计提供了足够的空间。
本设计还对整个设计结果进行了三维造型设计。通过SolidWorks软件将所得数据进行三维实体建模，并通过三维模型进行了避障和机动性分析、有限元分析以及可行性分析等内容，检验了各零件设计的可靠性。
关键词：火星；探测车；六轮腿；三维建模
Abstract
Mars is one of the eight major planets of the solar system. And it is the nearest planet from Earth except Venus. The process of exploring is also full of difficulties. About two-thirds of the probes, especially the probes sent in early time, didn’t complete their missions. In order to fulfill the task of exploring Marswhich are great significant, the study of the Mars exploration rover(MER) arevery necessary in the condition thatwe cannot send human to Mars today.
The main task of this paper is to design the structure of the Mars exploration rover. It involves the design of thewalking mechanism, drilling mechanism and the main body. After analyzing thework condition of MER and scheme comparison, sixwheel-legwas decided through a large amount of data,which is good at flexibility and motility, especially in obstacle avoidance. Following the foundation drilling machine, author designed a mechanismwhich can push the bit up and down and drill 1m deep under the surface under the condition of not affectingwalking. Thewhole body uses the truss structurewhich consists of straight thin shafts. Under the Loads, the truss can take full advantage of the strength of the material. So the truss structure makes the rover lighter in the condition of keeping the supporting strength. And it also offers more room for the following design like the control section and the layout design.
With the aided design of the software, SolidWorks, 3D solid models have been designed from the final data. By the 3D solid models, obstacle avoidance analysis, FEA analysis and the Feasibility have been done. Finally,with the help of the software,we tested the reliability of the partswhich are designed.
Keywards: Mars; Exploration Rover; Fourwheel-leg; 3D model design
目录
1绪论1
1.1课题研究目的和意义1
1.2火星简介和火星车研究现状1
1.2.1火星简介1
1.2.2火星车国外研究现状2
1.2.3火星车国内研究现状4
1.3课题研究的内容及其目标5
2具体设计6
2.1功能要求及分析6
2.2总体设计6
3行走机构的设计7
3.1方案比较7
3.2轮腿式系统介绍8
3.3轮腿方案设计要求9
3.4轮腿方案功能设计与分析10
3.5腿臂传动系统的布置10
3.6腿臂机械系统参数设计11
3.7腿部结构设计计算及分析12
3.7.1腿部参数设计计算12
3.7.2减速器的选型14
3.7.3电机的选型16
3.7.4轮腿腿臂机械结构设计17
3.8火星探测车主要零部件设计18
3.8.1轴的结构设计18
3.8.2关节轴的设计18
3.8.3同步带传动的设计与校核21
3.8.4轴上键的设计与校核23
3.8.5滚动轴承的选择及计算24
3.9车轮的设计26
4钻探机构的设计27
4.1功率估算27
4.2钻头结构设计29
4.3抬升机构设计30
4.4钻孔辅助结构设计31
5火星环境探测车避障和机动性分析33
6整车尺寸及性能分析36
6.1整车尺寸36
6.2稳定性分析37
6.3有限元分析38
6.3.1有限元分析简介38
6.3.2三维实体建模39
6.3.3创建FEA分析39
6.4可行性分析41
7结论42
致谢43
参考文献44
A0-总装图
A0-腿部装配
A1-大腿臂
A3-电机连接法兰
A3-关节盖
A3-关节轴
A3-轴套
2摘要
3设计所包含文件
5目录
1字数
