Several Technical Problems in Lunar Rover Investigations

摘要

Most of planetary rovers have 6 wheels, and a symmetric statically determinate configuration is adopted. This special feature makes rover being unable to overcome ditches and vertical obstacles. A new six axes indeterminate configuration of asymmetric lunar rover is proposed in this paper, and a prototype rover is made. Several important technical problems in lunar rover development, such as the capability to cross over the ditches, the ability to climb up on the step-like obstacles, possibility to give full play simultaneously to the traction of all the wheels and the methodology used for investigating the drive performances of lunar rover on the Earth are put forward. A series of examinations have been completed on this prototype. For imitation of the lunar gravitational circumstances, a single wheel test device was designed.