Research on the kinematics and dynamics of Lunar rover"BH-1"

In the paper, the mobility and obstacle-surmounting capability of six-wheels Lunar exploration prototype "BH-1" are analyzed. Then, the theoretical analysis of the kinematics and dynamics of the prototype is conducted. The kinematics constraint relations between the robot body and the robot wheels are derived, and the influences of the forward slip movement, the lateral slip movement and the steering slip angle on the kinematics of the prototype are analyzed. The mechanics of the wheel on the soft soil is studied. Furthermore, a dynamics model based on Kane's dynamics equations is established. At last, ODE (Open Dynamics Engine) is utilized to simulate the obstacle-clearing process of the prototype. The simulation results show the excellent mobility and obstacle-clearing performance.