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中文摘要：
针对方案性能评价与优化，提出了基于构型的创新设计方法，建立了轮式空间探测机器人的综合评价与优化模型。基于虚拟样机软件ADMAS12．0和控制仿真软件MATLAB6．5开发了轮式空间探测机器人移动性能综合评价与优化软件，从构型创新、构型组装、方案优化三个层次对轮式空间探测机器人机械景统和控制系统进行综合评价与优化，得到多种优化方案及其优化参数。以双曲柄滑块轮式机器人为研究对象，得到了相对较优的设计参数，从而验证了所提出方法的有效性。
英文摘要：
Proposing a method for space-exploring robots innovative design based on the mechanism combination, and the evaluation and optimum model of lunar exploration robot was constructed. A mobility evaluation and optimum software platform of lunar exploration robot based on ADAMS12. 0 and MATLAB6.5 was also developed. The software platform supported scheme creation, scheme composition and scheme optimum of mechanical and control system of lunar exploration. Finally, a two-crank-slider suspension was proposed and optimized, the simulation results shows that the design, theory and means presented herein are effective.
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