Kinematics Model of Bionic Wheel-Legged Lunar Rover and Its Simulation Analysis

Based on the principle of double-half-revolution mechanism, a new-style bionic wheel-legged lunar rover was designed in this paper. Its mobile mechanism is comprised of four identical wheel-legged mechanisms, rover body bracket and steering brackets, etc. On the basis of establishing the coordinate transformation models of the bionic wheel-legged mechanisms, kinematics of its mobile mechanism was analyzed, and the forward kinematics models of the striking rods were established. Based on kinematics simulation in COSMOS Motion software, this paper obtained the trail curves of joints relative to the reference coordinate system. Simulation shows that the fluctuation of the bionic wheel-legged lunar rover is small and it can realize the striding movement smoothly.