Abstract
In order to complete the exploration task, the lunar rover not only needs good mobility, and also requires compact structure, small volume, and light quality. Taking the wheel-legged mechanism of lunar rover as research object, this paper established three wheel-legged mechanism design constraint functions, considering the fluctuation of rover body, obstacle-climbing capability and anti-interference ability. On this basis, taking the minimum volume of the wheel-legged mechanism as general optimize goal. By adopting optimal level set method, the wheel-legged mechanism parameter fuzzy optimization was done, and the general function values were achieved by MATLAB optimization toolbox. The optimization results show that the general volume of wheel-legged mechanism is reduced, thus contribute to optimizing the whole rover.
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