Modeling and simulation for lunar rover based on terramechanics and multibody dynamics

To investigate the kinematic and dynamic performance of lunar rover running on loose soil, and predict its motion behaviors, a model of lunar rover is established based on plastoelastic terramechanics and multibody dynamics. The constraints of the joints are analyzed to obtain constraint forces, the simplified Bekker's terramechanics are used to solve the forces between wheels and the terrain. A method based on virtual points detection is presented to detect the contact relationship and evaluate the geometrical parameters between the wheels and the terrain, more accurate geometrical parameters are obtained by static balance. A simulation platform is developed, with drive torques and steering torques of wheels as input, rover attitude and wheel-terrain forces as output. The experimental results show that the model has good kinematic and dynamic performance.