A novel active deform and wheel-legged suspension of Mars rover

A novel active suspension of Mars rover based on six-wheeled rocker-bogie suspension is proposed and the design is given from the 2D modularization concept. The proposed suspension not only can operate as same as normal six-wheeled rocker-bogie suspension, but also provides active fold-unfold ability on the platform, great wheel-legged passing ability in soft terrain and steep slopes. The most important component of this suspension is a main rocker angle adjuster with a planetary gear train, which makes angle between the front and rear part of main rocker change coherently with angle between the rear part of main rocker and the carriage. The mathematical model of one side suspension is established and the ratio of planet gear train is solved. A prototype is manufactured and the performance of it is validated by the experiment in indoor proving ground. The study of this active suspension lays a theoretical foundation for future development of the kinematics and dynamics, control system design, and the development of the next prototype.