Parallel wheelset suspension kinematic design for improved heavy-duty lunar vehicle straight-line drivability and ride comfort

Abstract

A parallel wheelset suspension (PWS) designed for a heavy-duty lunar vehicle, specifically for a multi-wheeled pressurized lunar rover (MWPLR), is beneficial for adapting wheels to rough terrain and absorbing vertical vibrations passively. It is a 2-degree-of-freedom spatial parallel mechanism. However, when a lunar vehicle is driven over rough terrain, the wheelset alignment parameters of the PWS vary substantially, resulting in poor wheel-to-ground contact. This paper aims to address these problems. It first presented a PWS design approach, used simulations to confirm the correctness of the kinematic model, evaluated the initial suspension performance, and established an optimization objective. We then analyzed the suspension’s instantaneous screw axis variations as the wheelset crossed the obstacle. The results help us determine the causes and optimization variables that affect the alignment parameters. Finally, based on the kinematic and simulation analysis methods, the optimized suspension ensured that the variation in the camber, toe, and inclination angle of the steering axis would be [-1^{\circ },1^{\circ }] when the MWPLR crossed a 0.4 m high obstacle. The simulation demonstrated that the PWS improved the ride comfort of the MWPLR and that the optimized PWS enhanced the straight-line drivability and flexible steering capability of the MWPLR. PWS and its design methodology provide a design reference for other multi-wheeled rovers.

Graphical abstract

Keywords

parallel wheelset suspension / heavy-duty design / lunar vehicle / kinematic design / wheel alignment parameter / wheel–ground contact capability

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