关键词: 月球车, 本体模型, 约束关系, 训练仿真, ADAMS

Abstract: To implement the requirements of training and simulation for the teleoperation of lunar rover, the methods of modeling lunar rover is studied in the simulation of virtual prototype on ADAMS, a framework was proposed for the simulation system of lunar rover, the 3D-ontology model of virtual prototype was given, the relative relations were analyzed among parts, and relatively fixed parts were partitioned by combining. The constraints relations were modeled by kinematics pair, and the dynamics moment in the motions were added for the relative moving of parts. A series of experiments were designed to validate that the simulation of telemetering parameters was affected by the activity mechanism, such as solar arrays, in the move and exploration progresses of lunar rover. The results of experiments show that the virtual prototype of lunar rover can simulate the kinematics characteristic of its movement and exploration, and give the vivid data for teleoperation training.

Key words: lunar rover, ontology model, constraint relative, training simulation, ADAMS