12 Design and Analysis of a Double-Half-Revolution Mechanism Exploration Rover

A new type of mobile system used to get asymmetrical rotation for lunar rover was presented. The mobile system was mainly constructed by a double-half-revolution mechanism, which was composed of a first swiveling arm, a second swiveling arm and two striding rods. Static force model of the mechanics of this configuration was described. According to the kinematic analysis, the pose of the rover can be calculated. With the pose of the rover calculated, the normal forces between the wheel-legs and ground were simulated. From this simulation it's possible to determine whether the rover will slide, tip over or maintain its balance. Simulation results showed that the normal forces were affected by applying specific frictional coefficient.