中文摘要：

针对基于二级半转机构的轮腿式月球车，建立其虚拟样机模型，通过典型路况下的动力学仿真获得月球车轮腿行星机构各轴系的力学数据。在此基础上，建立轮腿行星机构各轴系的有限元分析模型，并进行应力分析计算。基于ANSYS参数化设计语言APDL，基于最小二乘逼近优化方法对轮腿行星机构轴系进行了优化设计。优化后的轴系不仅满足强度要求，而且质量比原来降低约30％，这为优化月球车轮腿结构提供了一种新的有效途径和方法。

英文摘要：

The virtual prototype model is established for the wheel-legged lunar rover based on double-half-revolution mechanism, and its mechanical data of wheel-leg planetary mechanism shafts are obtained by dynamic simulation under some typical road conditions. On this basis, its finite element analysis model is established, and the stress of the wheel-leg planetary mechanism shafts is analyzed by using ANSYS software. Based on ANSYS parametric design language （APDL）, the optimization design for the above shafts are done combined with the least-square approxima- tion optimization method. The results show that the optimized shafts not only meet the strength requirement, but also their weights are about 30% lower than the original design, which will provide a new and effective way for optimizing the whole wheel-leg structure of lunar rover.