Research on Locomotion Control of Lunar Rover with Six Cylinder-conical Wheels

This paper analyses the motion of articulated lunar Rover with six cylinder-conical wheels and force acting to wheels, and presents six operation patterns of motion of rover´ wheel and The free-running operation pattern is perfect. In this pattern, the power dissipation between of mechanisms is minimum. The different mode of motor has influence on stability of motion in various terrains. We analyze the motion of the lunar rover at the three simple-driving mode of motor in the plane terrain and in the uneven terrain at the points of operation patterns of wheel. According to the mechanical configuration of rover, operations pattern of wheel, and principle of speed matching of wheels, we present a control algorithm which can fit various uneven terrains and merge it into the whole locomotion control system. At last, the experiments in the outdoor prove that the control method is right and the control system is stable.