Abstract
For getting good passive self-adaptability, the model for single wheel system contacting with the terrain is established, and the degree of freedom (DOF) needed is studied when the system has good passive self-adaptability; further more, the model of one sided wheel-suspension is set up, and the DOF is obtained by analyzing with corresponding proof is given; several relative features of some common passive self-adaptive rovers are concluded, and these information testifies the universalism of this paper’s conclusions.
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