International Conference on Mechanical and Electrical Technology 2009 (ICMET 2009)
6 A New-Type Wheel-Legged Lunar Rover and Its Mobile Performance Analysis
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- Ris (Zotero)
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Based on the principle of a double-half-revolution mechanism, a new-style wheel-legged lunar rover was proposed in this paper. Its mobile system includes rover body frame, four identical wheel-legged components and steering brackets, etc. The independently driven and steering wheel-legged components are based on a double-half-revolution mechanism, and their driving moments are transmitted by two tandem planetary gear trains. Its mobile performance was analyzed, including fluctuation of rover body, capability of anti-rolling and vertical obstacle-climbing capability. Analysis shows that the wheel-legged lunar rover with double-half-revolution mechanism is adaptive to the undulate lunar surface.