Study On Virtual Simulation Platform Of Tyre-soil Interaction For Lunar Rover Based On Virtual Reality Technology

"goddess in the moon" project has start up in 2004, so the research of lunar rover is in the need of the development of this project. As a pioneer landing on the moon, lunar rover is an important component of the project and also an essential important medium at the start stage of the lunar exploration. Lunar rover is a mobile robot exploring harsh lunar environment. Rover development involves many new technologies, such as artificial intelligence, auto-control, framework, communication, computer science, etc. With the development of the technic of virtual simulation, this will short the circle time and save the outlay. So simulation technic has been the important part of the lunar rover exploration robot.This chapter which bases on the Shanghai Aerospace Bureau and the Shanghai Jiaotong University cooperation projects as the background has constructed virtual simulation platform considering the wheel-soil interaction for lunar rover and successfully applied to the project. Firstly, this paper discusses the import to AS2TM, based on Bekker's research,which can analyse off-road driving for vehicles, establishs dynamics model of the lunar rover,and researches using experiment data obtained by AS2TM for simulation platform. Secondly, the experiment data are used to design kinematical module using Vortex and video module using OpenGL Performer. This chaper achieves the inspection vehicle in soft ground environment dynamics function in virtual simulation platform. Finally, the application papers of the examples,2 and 3 are tested at the same time on the virtual simulation platform.