In order to improve the quality of transplanting devices and solve the problems of the poor effect on soil moisture conservation and more weeds easily growing due to the high mulching-film damage rate with an excessive number of hole openings, we developed a dibble-type transplanting device consisting of a dibble-type transplanting unit, a transplanting disc, and a dibble axis. The ADAMS software Adams2020 (64bit) was used to simulate and analyze the kinematic track of the transplanting device. The results of the analysis show that, when the hole opening of the envelope in the longitudinal dimension was the smallest, the transplanting characteristic coefficient was 1.034, the transplanting angle was 95 degrees, and the transplanting frequency had no influence. With the help of the ANSYS WORKBENCH software Ansys19.2 (64bit), an analysis of the process of the formation of an opening in the mulching film and a mechanical simulation of this process were completed. The results indicate that, when the maximum shear stress of the mulching film was the smallest, the transplanting characteristic coefficient was 1.000, the transplanting frequency was 36 plants center dot min-1, and the transplanting angle was 95 degrees. In addition, the device was tested in a film-breaking experiment on a soil-tank test bench to verify the hole opening in the mulching film. The bench test showed that, when the longitudinal dimension was the smallest, the transplanting characteristic coefficient was 1.034, the transplanting frequency was 36 plants center dot min-1, and the transplanting angle was 95 degrees. When the lateral dimension was the smallest, the transplanting characteristic coefficient was 1.034, the transplanting frequency was 36 plants center dot min-1, and the transplanting angle was 90 degrees. The theoretical analysis, kinematic simulation, and soil-tank test results were consistent, verifying the validity and ensuring the feasibility of the transplanting device. This study provides a reference for the development of transplanting devices.

随着深空探测技术的发展,新型月球探测器需要在遍布石块、陨石坑和斜坡等复杂月球表面上着陆,因此有必要对月球着陆探测器的着陆性能进行评估。本文对一种四腿可展开式着陆器进行了合理简化,并用AD-AMS软件建立了着陆动力学仿真模型。模型中应用子程序表达缓冲铝蜂窝和月壤的力学性质,通过在预研着陆器的仿真模型上加载,实现了系统的仿真;并得到了月球探测器以给定姿态和着陆速度在不同地面坡度和月壤物理特性下的着陆性能及一般规律,对我国月球探测器软着陆动力学研究具有一定参考价值。

首先基于MSC.Nastran/MSC.Adams软件建立了模拟月球着陆器的动力学模型,并利用模拟月球着陆器在地面冲击试验来验证仿真模型的正确性,重点关注缓冲机构与结构连接处的载荷,结构特征点的加速度响应,以及缓冲器的工作行程。然后利用模拟着陆器地面试验结果修正动力学分析模型,研究表明:着陆器结构和缓冲机构的柔性对缓冲性能具有较大的影响。最后,把动力学分析模型中的模拟结构更换成真实结构,进行着陆器在月球表面的着陆冲击仿真分析,从而获得模拟着陆器地面试验与着陆器在月面着陆的冲击缓冲性能差异。

根据月球环境的特点和对月球车移动性能的分析,对六轮、八轮摇臂—转向架式月球车进行拓扑结构设计,分别选出适应月球地形环境的六轮车型和八轮车型。并进行性能比较和仿真分析,对其存在的不足提出了改进措施。

针对月球的复杂地形环境,利用ADAMS软件建立六轮摇臂-转向架式月球车的三维仿真模型,对其进行动力学仿真分析,获得了月球车各部件和整车的动力学特性曲线,为月球车控制系统的设计与数值计算提供了理论依据.

提出了三摇臂悬架和双曲柄滑块联动扭杆悬架两种新型月球车悬架系统;建立了月球车移动性能评价的数学模型;采用虚拟样机技术,从地面自适应、行驶平顺性、越障性能三个方面对月球车的移动性能进行动力学分析。仿真结果表明,双曲柄联动扭杆悬架月球车具有很好的移动性能。