Study On The Input Mix Five-bar Drive System Of Lunar Rover

From ancient times the human yearning for the moon has not stopped, the rover is animportant tool for probing the moon, is one of the difficult part. This article is based onthe five drivers of hybrid drive systems for lunar rover design and preliminary study ofobstacle.This paper analyzes the wheels, legs, three mobile agencies track the advantages anddisadvantages, we propose a composite type with round legs rover, rover innovation is th-e use of mobile systems superimposed hybrid five-bar mechanism on the wheel body, mov-e forward relying on wheeled flat surface, rough road obstacle to rely on mixed-five agencie-s to achieve the adjustment of body posture and walk across, mixed five drivers can achieve greater flexibility, reduce stiffness, improve movement accuracy.The first article describes the harsh lunar environment, compared to three advantagesand disadvantages of mobile systems, mobile systems come to the rover should have themain function, on the basis of the concept of a hybrid five-bar mechanism superimpose-d on the body on the wheel wheel-leg rover, the rover and the main components for the de-sign and description; obstacle in order to meet requirements of the hybrid five-bar mech-anism and analytical method using a five institutions analyzed the kinematics and dynamic-s, determine the trajectory of the performer and speed, acceleration and torque, the five ins-titutions and to avoid the presence of double-crank conditions of singularity are discusse-d, drawn up to meet the conditions for the existence of hybrid five-bar mechanism of constraint equations, and then analyzed the rover soft layer, steps, slopes and ditches should betaken when the strategy has been to rely on ADMAS software lunar rover across the max-imum height, maximum width and slope of the antioverturning, and satisfy the design re-quirements. Finally, a summary of the thesis put f-orward outlook.