Wheel-Terrain Interaction Simulation of Lunar Rover Based on Creator/Vega

A lunar rover 3D model is created by using Multigen Creator.Using Vega as the visual simulation platform,wheel-terrain interaction and inverse kinematics solution of lunar rover is realized.The key technologies such as collision detection,intersection vector setting,and joint control are discussed.The experimental results and analysis of lunar rover uphill and downhill show the effectiveness of the method in the visual simulation of wheel-terrain interaction.