Journal of Jilin University(Engineering and Technology Edition) ›› 2021, Vol. 51 ›› Issue (1): 154-162.doi: 10.13229/j.cnki.Jdxbgxb20200604

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Design active suspension system and creeping control strategy for mars rover of China

Bao-feng YUAN1(),Cheng-en WANG1,Meng ZOU2,Ya-fang LIU3,Yun-cheng LIN3,Yang JIA3,Bai-chao CHEN3,Jing-fu JIN2   

  1. 1.School of Mechanical and Power Engineering，Shanghai Jiao Tong University，Shanghai 200240，China
    2.Key Laboratory of Bionic Engineering，Ministry of Education，Jilin University，Changchun 130022，China
    3.Institute of Spacecraft System Engineering，CAST，Beijing 100094，China
  • Received:2020-08-05 Online:2021-01-01 Published:2021-01-20

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Abstract:

The active suspension structure of the Mars Rover was designed based on Rocker-Bogie Mechanism， and the creeping control strategy was proposed during a large sinkage. Four Mars Rover creeping tests were carried out. The test results show that the Mars Rover finally escaped from the large sinkage during all of four creeping tests. The average power of the Mars Rover is 13.5-18.94 W， and the maximum power is 24.8-52.4 W when the Mars Rover suspension is creeping. The average current and maximum current of the six drive motors are increased correspondingly compared with normal driving. The average current increases by 9.7%-74.8%， and the maximum current increases by 9.6%-34.5%. The results show that the active suspension combined with the creeping escape strategy can solve the sinkage risk and improve traffic ability of Mars Rover of China.

Key words: mobile system, active suspension, traffic ability, creeping, Mars rover

CLC Number: 

  • V416

Fig.1

Schematic of active suspension"

Fig.2

Working principle of differential mechanism"

Fig.3

Influence of angle adjustment mechanism on state of rover body"

Fig.4

Schematic diagram of angle between rocker and body"

Fig.5

Geometry of mobile system (0<α<π)"

Fig.6

Key dimensions of mobile system"

Fig.7

Derivative of α and θ"

Fig.8

Working principle of angle adjustment mechanism"

Fig.9

Schematic diagram of creeping control strategy"

Fig.10

Creeping control test in lab"

Fig.11

Procedure of creeping test"

Fig.12

Power-swing angle of four creeping test"

Fig.13

Average and maximum current for four creeping test"

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