Dynamics analysis of the lunar rover with planetary wheel

To reduce body's vibration acceleration of lunar rover with planetary wheel in vertical direction, determining torsion bar spring stiffness of suspended system and reasonable damp value range of damper are needed. For this purpose, the vibration system model of 7 DOF lunar rover is established. The vibration system differential equation of the lunar rover and the calculation method of frequency response function are given. Based on determining ground input spectral density of the lunar rover, second derivative root-mean-square value calculation formula of the body in vertical direction of displacement output is derived. The above root-mean-square value is computed by Matlab software programming to obtain and determine the torsion bar spring stiffness and reasonable range of damper parameters.