中文摘要：

以二级半转轮腿式探测车为研究对象,建立其虚拟样机模型,并设定其轮腿机构的各杆运动耦合关系以及与路面的3D碰撞属性。针对探测车平地行走和垂直越障两种情况,在ADAMS软件中进行了动力学仿真分析,在给定驱动电机旋转角速度的情况下,得到了探测车车体质心位移、速度和加速度随时间变化的曲线,并对轮腿机构跨步杆所受路面的接触力进行了仿真分析。仿真结果表明,该探测车具有较强的垂直越障能力和较小的车体垂直起伏度。

英文摘要：

Taking a double-half-revolution wheel-legged rover as research object,this paper established its virtual prototyping model,and set the movement coupling relationship among the rods of the wheel-legged mechanism and the 3D collision attributes between the rods and the ground.Dynamics simulations in ADAMS software were done,including walking in flat ground and climbing over the vertical obstacle.Given the angular velocity of the drive motors,the bodywork mass displacement,velocity and acceleration curves changing with time were obtained,and the contact forces between the rods and the ground were also simulated.Simulation results show that the rover has strong vertical obstacle-climbing capability and small perpendicular fluctuation of rover body.