中文摘要：

为模拟基于二级半转机构的月球车的单轮腿机构在整车条件下的受压状态以提高其在平地行走、爬坡、侧倾3种工况下的实验准确性,笔者以月球车整车及其单轮腿机构为研究对象,分别建立了它们在3种工况下的静力学模型,讨论了进行爬坡和侧倾工况下实验时的最大爬坡角度和最大侧倾角度。基于MATLAB软件对单轮腿机构在3种工况下所受的整车压力进行了仿真分析并给出了3种工况实验时进行压力加载的数据曲线图。仿真结果表明了3种工况下跨步杆跨步运动和地面坡度的变化对单轮腿机构所受整车压力的影响。

英文摘要：

For the purpose of simulating the pressured state of the single wheel-legged mechanism of a lunar rover based on a double-half-revolution mechanism for raising test accuracy under the three conditions of level walking,climbing and roll,we first build its mathematical model for determining the maximum climbing angle and the maximum roll angle in the tests.Based on MATLAB software,the pressures which the whole lunar rover applies on the single wheel-legged mechanism under the three conditions are simulated and the pressure loading data maps used for the three conditions′ tests are given.The results show the influences of the striding rod′s motion and the ground angle′s change on the pressures under the three conditions.