Optimal design of suspension's dimensions for six-wheeled rocker lunar rover based on climbing obstacle capability

For the improvement of climbing obstacle trafficability of lunar rover, a quasi-static force model for rocker lunar rover when rear wheel, middle wheel and rear wheel climbing up vertical obstacle respectively was built based on former model. Rotating angles of rockers were draw into the model. An optimization of suspension's dimensions was carried out based on the new model, of which objective function was the max climbing height of vertical obstacle. The improvement of climbing obstacle trafficability was achieved. According to the definition of adhesion coefficient, a simulation was carried out by means of Adams. The validity of the optimization results and the quasi-static force model are verified.