Obstacle-climbing capability analysis of lunar rover based on double-half-revolution mechanism

The obstacle-climbing performance on uneven terrain was analyzed according to the characteristics of the lunar rover based on double-half-revolution mechanism. Because the obstacle-climbing model of uneven terrain was relatively complicated and the numbers of independent equation were less than those of unknown variables, a new evaluation index of the obstacle-climbing capability was presented. Pointed out that the larger the friction feasible region, the better the obstacle-climbing capability, and when the friction feasible region the wheel-leg suffered did not exist, the mechanism would not have the obstacle-climbing capability under the initial conditions. The obstacle-climbing force model under friction constraints was established when giving the slope angle and obstacle height, two wheel-legs and single wheel-leg forward obstacle-climbing capability were simulated through the method of finding the wheel-leg´s friction feasible region. Simulation results show that the feasible solution regions of T₁, T₂, T₃ and T₄ are affected by applying specific frictional coefficient.