Obstacle-climbing performance simulation analysis of wheel-legged rover

Simulation technology based on the virtual prototype helps to design the physical prototype and optimize its structure. Taking a double-half-revolution wheel-legged rover as research object, this paper established its simplified three dimensional entity model in SolidWorks software, then imported it into ADAMS software and obtained its virtual prototype model by setting their movement coupling relationship among the rods of the wheel-legged mechanism and defining their 3D collision attributes between the striding rods and the ground. Given the angular velocity of the driving motors, obstacle-climbing capability simulations were done, including climbing the slope obstacle and vertical obstacle. And the displacement, velocity and acceleration curves of rover body centroid were obtained, and the contact forces between the striding rods and the ground were also simulated. Simulation results show that the rover has strong obstacle-climbing performance.