Force Model and its Simulation Analysis of Wheel-legged Lunar Rover

Based on the motion characteristics of double half-revolution mechanism, a new-style wheel-legged lunar rover was proposed. In order to evaluate its maneuvering performance, the performance experiment of single wheel-legged mechanism is needed. To simulate the loading conditions of single wheel-legged mechanism when the lunar rover is walking in flat ground, climbing up a slope or walking sideways in a slope, this paper analyzed their statics under the above three conditions, and set up their force models respectively. Using MATLAB software, the pressure loads which applied on each wheel-legged mechanism under the above three conditions are simulated, and their curves are given. The results provide a loading reference for the performance experiment of single wheel-legged mechanism.