| In the future, the space exploring robot should accomplish variational missions in un-known or non-structure enviroments, which repuires the robot's localmotion platform own excellent terrainability, over-obstacle ability, untipover stability, driving placidity, traction controllability and power-saving characteristics. The wheeled robot , owing to its simple structure, low weight, high speed, high efficiency, pratical etc. advantages,has been the main research choice for space-exploring around the world.Taken wheeled exploring robot as research object, the dissertation focuses on the sever key technolgies of the wheeled exploring robot, including innovation design of locomotion mechanism, comprehensive evaluation and optimization of the space-exploring robot , and the design ,analysis and construction of the two-crank-slider suspension lunar rover. The configuring model and active configure methods of active adaptive suspension robot has also been proposed and studied. Some progresses in the aspects of the innovation design theories of locomotion mechanism and the innovation design of high-performance lunar rover has been made. These propgress may provide technology supportting and high-performance locomotion platforms for our country's lunar exploring robot research.The main contents and original achievements are as follows:1) Proposed a method for space-exploring robots innovation design based on the mechanism combination. Since the wheeled space-exploring robot can be seen as a multibody system, any wheeled rover can be composed of the wheel mechanism, suspension mechanism and body mechanism. Therefore, two kinds of innovative design mode,isomorphic combination mode and isomerous combination mode, were proposed. By analysing the mechanism of domestic and foreign classic space-exploring robots and mechanism innovation, four kinds of wheel mechansim, five kinds of suspention mechansim and five kinds of body mechansim were abstracted. Using the innovative design method based on mechanism combination, taken four-wheeled, six-wheeled and eight-wheeled space-exploring robot as research object,we have got as many as sventy new kinds of isomorphic combination localmotion platforms and one hundred and sixty five new kinds of isomerous combination locomotion platforms.2) The evaluation model of space-exploring robots was constructed by analyzing the requirements of mobility. The main evaluation parameter of locomotion performance includes terrain-adaptability, driving placidity, over-obstacle ability, untipover stability, steering sensitivity etc. The evaluation model provides theoretical supporting for the space exploring robots'evaluation and optimization.3) The comprehensive method of evaluation and optimization for space-exploring robots has been studied, and an evaluation and optimization platform based on virtual prototype was constructed. By building up a parameterized mechanism library, the platform can surpport three kinds of innovative design mode, which includes modular combination, modular innovation and modular replacement etc. The platform significantly increases the efficiency and precision of virtual prototype modeling. Both the optimized structure parameters and control software can be obtained from the platform by optimizing the mechanical system and the control system of the space-exploring robot.4) Proposed a six-wheel lunar rover with the two-crank-slider suspension system by innovation. Its structure and working principle were introduced and its parameterized virtual prototype was built. Based on the evaluation model of space exploring robots'mobility, two-crank-slider mechanic lunar rover and six-wheel- rocker-bogie lunar rover were simulated, analyzed and optimized respectively to obtain their optimal parameters. Based on the consistency assumption and virtual prototype techniques, the two robots'mobility was compared. The simulation results show that the driving placidity, terrain-adaptability, steering sensitivity of the two-crank-slider lunar rover is better than that of six-wheel- rocker-bogie lunar rover, the over-obstacle ability is equal to and the untipover stability is inferior to that of six-wheel- rocker-bogie lunar rover. A conclusion can be drawn that the two-crank-slider lunar rover has superior mobility than the six-wheel- rocker-bogie lunar rover in the mass.5) A physical prototype of two-crank-slider lunar rover, whose electromechanical system was modularization designed, was developed. Its maintainability and reliability was guaranteed. According to indoors and outdoors tests, the mobility of two-crank-slider mechanic lunar rover (speed: 0.1m/s, over-obstacle: 0.20m, slope-climbing: 30o) can approximately satisfy the requireements of lunar exploring. How to improve the rover's adaptability to the lunar's environment, which includes the weight, structure and materials of the mechanical system, the tanti-radiation and the anti-jamming abilities of the electronic system need further research.6) By combination the virtue of the active suspension robot and the adaptive suspension robot, the concept and prototype of active adaptive suspension robot is creatively proposed. The virtual prototype of the six-wheel- rocker active adaptive suspension robot has been analyzed and simulated. The simulation results showed that the mobolity of active adaptive suspension robot improved greatly. The active adaptive suspension robot provides an effective solution for the development of the lunar exploring robots.
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