The configuration evaluation and simulation analysis of a folded-deployed suspension for six-wheeled rovers

The research on the arrangement of folding points and the combination of folding joints of a four-linkage rocker bogie (FLRB) suspension for six-wheeled rovers was conducted, and seven folded-deployed suspension configurations were put forward. The fuzzy evaluation theory and method were adopted to establish the corresponding evaluation model, the configuration set, and the evaluation set. An optimal folded-deployed configuration was obtained by optimization operation. Based on the optimal configuration, a three-dimensional locomotion model for rover systems was constructed and simulated by the ADAMS software, and correspondingly, the motion and force curves of the key components were achieved. The simulation results show that the optimal suspension can be deployed stably, and its comprehensive performance meets the demand.