月球车桅杆机构设计与分析

Design and Analysis of the Lunar Rover Mast Mechanism

摘要: 在分析国外月球车桅杆机构的基础上，研制出三自由度桅杆机构．建立了桅杆机构的动力学模型．对桅杆机构运动学和动力学进行了分析，给出了桅杆机构的运动学和动力学方程．对动力学方程进行求解，得到了关节力矩曲线．

Abstract: Based on the analysis of the mast mechanism of lunar rovers developed in other countries,a 3-DOF mast mechanism is designed.A dynamical model for the mast mechanism is built.Kinematics and dynamics of the mast mechanism are analyzed,and their equations are built.The joint torque curves are obtained by solving those equations.