Research on kinematics and dynamics of lunar rover with new configuration

Based on the analysis of various lunar rovers at home and abroad, a new kind of mobile system of lunar rover with six wheels is proposed. The structure of rover is integral and statically indeterminate. Every wheel is of the independent active one. There are no deflecting wheels in this lunar rover, and the change of motion direction depends on the speed difference between the wheels on both sides. The configuration of wheels is asymmetric at the two sides of rover body. Any two axes of wheels are not collinear. The lunar rover with new configuration has better capability to traverse ditches and can regain traction force while slip happens. The kinematics equations of rover with new configuration are deduced. It is found that angular velocity of revolution is the same as angular velocity of rotation when lunar rover goes around a turn. The way to determine the instantaneous rotation center of rover is found, too. Finally, the mathematic model of driving dynamics which is the base of simulation and analysis of the structure, control, navigation design for the lunar rover is given.