Study on the dynamics and motion capability of the planetary rover with asymmetric mobility system

Mobility system is the key part of planetary rover which determines the effects of planet exploration. A rover with asymmetric mobility system is proposed for enhancing locomotion performance in rough terrain. The rover has an integral and statically indeterminate structure with six wheels asymmetrically joined at the two sides by suspension mechanism. Suspension configuration can be actively controlled to improve the rover mobility in high challenging terrains. Newton-Euler method is used to establish dynamics model, the geometry and velocity constraints are given to solve the dynamics equations. Some simulations are done to validate the dynamics model and study the dynamics performance of the rover in representative terrain. Some experiments testify strong obstacle overcoming and ditch passing capability of the rover.