Kinematic analysis of lunar rovers in a low gravity experimental environment

In order to simulate the low gravity environment of the lunar surface on the earth, the gravity experienced by the lunar rover must be compensated for. Gravity compensation was provided with a configuration of silk straps hung from two bridges. The zone of the center of mass was determined when the lunar rover moves on uneven terrain. Changes in the vertical loads on wheels from lower gravity were simulated by the tilt angle of the silk, and the influence on loads of changes in the center of mass was analyzed. Simulation curves for vertical loads on the wheels were produced. Then motion analysis for the lunar rover in low gravity was carried out. The study results illustrate that the smaller the tilt angle of the silk, the smaller the zone of the center of mass of the lunar rover, and the smaller the wave of motion resulting from low gravity compensation. This paper gives a theoretical basis for constructing a low gravity experimental environment for functional testing of motion subsystems and reliability experiments with lunar rovers.