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Supervised by Ministry of Industry and Information Technology of The People's Republic of China Sponsored by Harbin Institute of Technology Editor-in-chief Yu Zhou ISSNISSN 1005-9113 CNCN 23-1378/T

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Related citation:GAO Hai-bo,DENG Zong-quan,DING Zhen-.Configuration and kinematics analysis of locking-releasing mechanism for side-loaded lunar rover[J].Journal of Harbin Institute Of Technology(New Series),2009,16(5):643-647.DOI:10.11916/j.issn.1005-9113.2009.05.009.
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Configuration and kinematics analysis of locking-releasing mechanism for side-loaded lunar rover
Author NameAffiliation
GAO Hai-bo quan (School of Mechatronic Engineering,Harbin Institute of Technology,Harbin 150001,China 
DENG Zong-quan quan (School of Mechatronic Engineering,Harbin Institute of Technology,Harbin 150001,China 
DING Zhen- quan (School of Mechatronic Engineering,Harbin Institute of Technology,Harbin 150001,China 
Abstract:
In order to save space for storing precision equipments,lower the center of mass of Lander and reduce lunar rover’s dimension constraint limited by mechanism of Lander,the locking-releasing mechanism of side-loaded lunar rover loaded outside Lander is presented,which is a kind of metamorphic mechanism.To ensure the working of this mechanism as the metamorphic process designed,configuration analysis of the locking-releasing mechanism is carried out,and topological structures are described by Huston lower numbered arrays.A kinematic mathematical model of the mechanism is established through homogeneous transformation matrix.The kinematic simulation validates the feasibility of the locking-releasing mechanism when the configurations are shifted from one to the other.
Key words:  lunar rover  locking-releasing mechanism  metamorphic mechanism  configuration analysis  kinematics analysis
DOI：10.11916/j.issn.1005-9113.2009.05.009
Clc Number:V476.3
Fund:

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