Design and analysis of a high-speed planetary rover with an adaptive suspension and spring damper

Abstract

The development of deep space exploration has led to new exploration demands that cannot be met by traditional planetary rovers. This paper proposes a new wheeled rover that combines the advantages of passive all-wheel attachment and vibration reduction at high speeds. This rover can achieve vibration reduction in the vertical direction from ground excitation, preventing the instability of pitch and roll. Flexible wheels were used to reduce the high-frequency excitation of the ground on the rover. The design concept and mechanical principle of the proposed rover were comprehensively analyzed. A quasi-static kinematic model was developed to analyze the overstepping performance of the rover with this new design. Further, the response characteristics of the system to the ground excitation were investigated by vibration equations established using the Lagrangian method. The optimal parameters were obtained using a genetic algorithm to optimize the system with multiple objectives. Furthermore, the overstepping performance, all-wheel attachment, and vibration reduction of the planetary rover were verified through multi-body simulation. The proposed rover has considerable potential for missions such as the Mars sample return and planetary station construction.