Virtual prototype based kinematic modeling for lunar rover

In order to improve the kinematic reconfigurability of a lunar rover in 3D rough environment, kinematic equations were derived from the wheel Yakeby matrix using the virtual prototype technology for the 6 wheels of the lunar rover. The position and direction of the lunar rover body can be derived from the individual Yakeby matrix of the 6 wheels using the least square method, and the kinematic speed of the lunar rover can be obtained by measuring the pitch and roll rates of the rover body with accelerometers. Simulation results indicate that the HIT-1 lunar rover developed using the kinematic modeling method, has the kinematic reconfigurability required for movement over rough terrains to enhance the safety and stability of rover body, and this method can be used as a kinematic modeling method for 3D wheel-type walking robots.