Terramechanics analysis and dynamics model for lunar rover on loose soil

This paper expounds the relevant knowledge of terra mechanics, including the sinkage of wheels, stress model and wheel-soil interaction force. Based on the theoretical background, wheel-soil interaction force is calculated and analyzed numerically. Then establishes the force distribution equations and dynamics simulation model for a bogie-rocker lunar rover. On this basis, simulation method is proposed on loose soil, which is the fundamental simulation condition for further motion control.