Dynamics Simulation and Motion Capability Analysis on the Mobile System for Asymmetric Planetary Rover

A kind of asymmetric mobile system for wheeled rovers is proposed for enhancing motion performance in rough terrain.The rover has an integral and statically indeterminate structure with six wheels asymmetrically joined at the two sides by suspension mechanism.The suspension configuration can be actively controlled to improve the rover mobility in high challenging terrains.Newton-Euler method is adopted to establish dynamic model for the mobile system,and the geometry and velocity constraint equations are given.The equation system consisting of differential and algebraic equations is solved by finite difference method.Simulations are performed to study the dynamic performance of the asymmetric rover, and some motion laws are obtained.The strong obstacle-overcoming and ditch-passing capabilities of the rover are testified by experiments on the principle prototype.