Tracked Lunar Rover Mobile System Design And Motion Simulation

Rover mobile virtual simulation performance evaluation in the lunar rover,the testing process and future remote detection process has a pivotal positionand real-time simulation platform is very important indicator. For improvingthe motion performance of the rover on virtual simulation, research must bestarted from mоdel of track-soil interaction, designing overall design of lunarrover mobile system, analyzing lunar rover kinematic equations, and makecalculations of lunar rover trafficability and stability analysis. Improve rovertrafficability and from any kind of obstacles, it need solve parameters of rovertrack mechanism. This paper constructed simulation platform based mobileperformance to the lunar track-soil mechanical mоdel.This research on overall design and implementation rover mobile motionperformance. This simulation platform is based on Universal mechanics, mainlyachieved several function modules: construction of simulation model for lunarrover and some difficult obstacles that rover need successfully pass over,realization model of track-soil interaction. Also research unstructured lunarterrain, determine the requirements of the mobile system technology, use oflunar rover suspension mechanism, and analyze driving mechanism, trackstructure from evaluation motion simulation.This research general modeling kinematic analysis for lunar rover using D-H method. Creating coordinate system, the coordinate transformation matrix toeach track mechanism, establish positive inversion between each coordinatecommutation relations, derived the mobile systems pose matrix, the velocityequation and the transformation matrix.Analyze the influence road factor to lunar rover and his stability, withoutcorresponding motion patterns, planning obstacles that rover can pass throughthem according to rover requirements. Solve quasi-static equation for mobilesystem, calculation of vertical obstacle, trench, slope theory, surmounting limitsize the moving system of lunar rover mobile system; establish the stability ofquasi-static equation, vertical obstacle and slope, the resulting limit of size andthe limit size of comprehensive performance comparison, determine the mobilesystem, evaluating the indexes for maximum climbing angle and biggestobstacle height of lunar rover.