| 摘要 | 第4-5页 |
| Abstract | 第5页 |
| Contents | 第6-8页 |
| Chapter 1 Introduction | 第8-20页 |
| 1.1 The background and significance of the research | 第8-9页 |
| 1.2 Research and analysis of foreign and Chinese tracked lunar rover | 第9-18页 |
| 1.2.1 Foreign Research | 第9-14页 |
| 1.2.2. Chinese research | 第14-16页 |
| 1.2.3 Lunar rover research status | 第16-17页 |
| 1.2.4 Lunar rover kinematics’ research status | 第17-18页 |
| 1.3 The main research contents | 第18-20页 |
| Chapter 2 Tracked lunar rover mobile system design | 第20-31页 |
| 2.1 Introduction | 第20页 |
| 2.2 Lunar landscape environment factors | 第20-21页 |
| 2.3 Track lunar rover mobility systems design requirements | 第21-22页 |
| 2.3.1 Lunar rover’s mobile systems design technical requirements | 第21-22页 |
| 2.3.2 Lunar rover mobile system design specifications | 第22页 |
| 2.4 Lunar rover mobile systems overall design | 第22-26页 |
| 2.4.1 Design of mobile system suspension mechanism | 第23-26页 |
| 2.5 Structural design of tracked lunar rover mobile systems | 第26-29页 |
| 2.5.1 Structural design of track | 第26-28页 |
| 2.5.2 Structural design of the drive wheel | 第28-29页 |
| 2.6 Summary | 第29-31页 |
| Chapter 3 Tracked lunar rover kinematics analysis | 第31-53页 |
| 3.1 Introduction | 第31页 |
| 3.2 Steering Analysis | 第31-45页 |
| 3.2.1 Steering theory | 第31-33页 |
| 3.2.2 The steering level ground | 第33-38页 |
| 3.2.3 Turning on slopes | 第38-43页 |
| 3.2.4 Steering evaluation index | 第43-45页 |
| 3.3 Tracked manned lunar rover mobile system’s kinematics modeling | 第45-50页 |
| 3.3.1 Coordinate System | 第45-48页 |
| 3.3.2 Rover forward kinematics equations | 第48-50页 |
| 3.4 Tracked manned lunar rover mobile systems inverse kinematics | 第50-52页 |
| 3.5 Summary | 第52-53页 |
| Chapter 4 Lunar rover mobile system trafficability and stability analysis | 第53-73页 |
| 4.1 Introduction | 第53页 |
| 4.2 Analysis of lost motion capability of mobile system | 第53-54页 |
| 4.2.1 Loss of trafficability analysis of mobile system | 第53-54页 |
| 4.2.2 Loss of stability analysis of mobile s ystems | 第54页 |
| 4.3 Analysis of quasi-static motion of the lunar rover | 第54-61页 |
| 4.3.1 Track - soil interaction analysis | 第54-60页 |
| 4.3.2 A quasi-static model of mobile system | 第60-61页 |
| 4.4 Lunar rover mobile system trafficability analysis | 第61-68页 |
| 4.4.1 Lunar rover cross over vertical barrier analysis | 第62-66页 |
| 4.4.2 Lunar rover from trench trafficability analysis | 第66-67页 |
| 4.4.3 Lunar rover slope climbing trafficability analysis | 第67-68页 |
| 4.5 Lunar rover stability analysis | 第68-72页 |
| 4.5.1 Longitudinal stability | 第68-69页 |
| 4.5.2 Conditions of motion stability, tipping over and slipping | 第69-70页 |
| 4.5.3 Lateral stability | 第70-71页 |
| 4.5.4 Slope stability | 第71-72页 |
| 4.6 Summary | 第72-73页 |
| Chapter 5 Tracked lunar rover motion simulation | 第73-84页 |
| 5.1 Virtual prototype technology | 第73页 |
| 5.2 Software overview | 第73-74页 |
| 5.3 Planar terrain simulation analysis | 第74-75页 |
| 5.4 Trafficability on slope simulation analysis | 第75-77页 |
| 5.5 Trafficability from vertical obstacles simulation analysis | 第77-79页 |
| 5.6 Smooth running on irreguler terrain simulation analysis | 第79-81页 |
| 5.7 Trafficability from trench simulation analysis | 第81-83页 |
| 5.8 Summary | 第83-84页 |
| Conclusion | 第84-85页 |
| References | 第85-91页 |
| Acknowledgement | 第91页 |
