中文摘要：

为了进行摇臂式探测车的移动性能分析及低重力模拟试验,须确定其质心域。在对摇臂悬架简化的基础上,提出摇臂探测车悬架设计参数的表示方法。将探测车简化为质点系,基于坐标变换法确定各质点的位置矢量,推导出任意运动位置时探测车的质心位置矢量和质心域半径公式。最后以研制的摇臂探测车为例,计算其设计质心、任意运动位置时的质心,并通过优化方法确定该探测车的最大质心域半径。结果表明,摇臂式探测车的质心域为中分面上的平面区域,车体质心的偏置对任意位置时探测车的质心影响较大,而对质心域的变化没有影响。所采用的方法也可用于其他被动铰接式探测车质心域的计算。

英文摘要：

In order to analyze mobility performance and accomplish the simulation experiment of rocker-bogie exploration rover in the low gravity environment,domain of center of mass should be calculated. Two description methods of design parameters are presented on the basis of simplification of rocker-bogie suspension. Exploration rover is simplified as a particle system,and position vectors of all particles are established by coordinate transformation. Position vector in any time and domain radius of mass center of exploration rover are derived. Finally the developed rocker-bogie exploration rover is taken as an example,the design mass center and the mass center with any movement position are calculated,and the maximal domain radius of mass center is determined through optimization. Calculation results show that domain of mass center of rocker-bogie exploration rover is plane. The offset distance of body influences on mass center with any movement position,but does not effect on the domain of mass center. The method of calculating mass center can be applied for other passive articulated exploration rover.