Design of a high performance suspension for lunar rover based on evolution |
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| Authors: | Baichao Chen Rongben Wang Yang Jia Lie Guo Lu Yang |
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| Institution: | 1. Intelligent Vehicle Group, Traffic college, JiLin University, China;2. China Academy of Space Technology, Beijing, China;1. School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China;2. College of IT and Engineering, Marshall University, Huntington, WV 25755, USA;3. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China;1. Key Laboratory for Bionics Engineering of Education Ministry, Jilin University, Changchun 130022, China;2. Institute of Spacecraft System Engineering CAST, Beijing 100094, China;3. China North Vehicle Research Institute, Beijing 100071, China;1. School of Automotive Engineering, Harbin Institute of Technology (Weihai), Weihai 264201, China;2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China |
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| Abstract: | In this paper, we propose a new suspension for lunar rover called obverse and reverse four-linkage suspension (ORF-L suspension for short). Its two components are designed based on the evolutions of bogie and rocker. Firstly, we analyze the character of bogie and research the approach to improve its performance. Based on that research, an evolved mechanism of bogie is proposed, named obverse four-linkage. It has better capacity than bogie. In addition an evolved mechanism of rocker is also proposed, named reverse four-linkage. The bogie, rocker and their evolved mechanisms can compose four available suspensions including the interested ORF-L suspension. Because ORF-L suspension is composed of two evolved mechanisms, it has the highest performance. In order to check that, the performance comparison between ORF-L suspension and rocker-bogie suspension are carried out based on simulation. Finally, a prototype rover with ORF-L suspension is designed and manufactured. It shows excellent performance as expected. |
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