Dynamics Modeling and Simulation Analysis of Mars Rover System

Abstract

In view of the fact that the Martian terrain environment cannot be realistically simulated on the ground，the functional performance of the rover is not fully verified on the ground，especially the Chinese rover adopts an active suspension mobile system，lacks experience in orbit. Establish a real dynamics model of the rover system，and comprehensively verify the rover's movement performance and strategy under different terrains through mathematical simulation methods. the simulation results show that the vehicle body lifting and wheel-lifting walking can effectively improve the passing performance and fault tolerance of the rover. Give the quantitative influence of terrain environment and walking gait on the performance of the rover，provide reference for Chinese Mars rover application in orbit and troubleshooting.

Keywords

Mars rover / active suspension / dynamics modeling / performance verification