Analysis of Over-obstacle Characteristic of a New Complex Structure Lunar Rover

A lunar rover is designed by combining the mechanism of leg,wheel and track,so it can well adapt to real lunar surface of low-gravity.The lunar rover has special kinetic characteristic in uneven terrain.The theoretical model and numerical simulation of movement process of the lunar rover over-obstacle course has been presented.In comparison with the theoretical model,a virtual prototype model has also been built to carry out dynamic simulation,and the over-obstacle characteristic of this lunar rover is analyzed.The results verify the efficiency of the mechanism design.