Research On Wheel-legged Mobile Mechanism Of Mars Rover

Mars exploration represents one of the most advanced technologies for human exploration of space.Mars exploration is of great significance to the origin of life,new energy exploration,and national defense construction.Mars rover is the carrier of the detector,thus it is very important to keep the trafficability and the reliability of its mobility system function well.Mars rover which adopt 6-wheel rocker arm suspension mobility system sinks and slips on soft surface easily.And sometimes it takes months to solve wheel detrapping.The mars rover with spring-damped independent suspension mechanism with complex mechanism has disadvantages of low efficiency and high detection cost.Some mobile system mechanisms with walking functions based on the rocker suspension mechanism are often complicated and the reliability cannot be guaranteed.In order to solve the problem that the wheel is easy to sink and the passing ability is poor,we proposed a single-wheel-step composite four-wheeled rover mobile mechanism.In this paper,the planetary vehicles with different configurations and different rounds were analyzed,and the wheel-legged drive scheme was proposed.The method of the beat and the method of solving trapping problem of the composite moving work was studied.The single-motor dual-output step-by-step composite drive scheme was proposed,and the principle of the transmission system is analyzed.The mechanics analysis of the rover was carried out to determine the transmission system parameters.Based on the wheel-legged drive scheme,the kinematics analysis of the planetary car was carried out,and the differential output of the wheel-legged moving wheel was analyzed.Through the dynamic analysis of the mobile system’s wheellegged drive,the static analysis of different wheel collapse modes was carried out,and the methods of solving subsidence conditions of the wheel-legged mobile system were obtained.Several gait obstacles are proposed.By establishing a virtual prototype,the planetary differential planet wheel and the moving mechanism are simulated and analyzed.The output characteristics of the differential planet wheel are obtained,and the kinematics and dynamics of the wheel-legged drive process are obtained.A prototype of the wheel-legged mobile system was assembled and the performance experiment was carried out.