Wheel and Track Hybrid Planetary Surface Locomotion Mechanism

Presently, most of the planetary locomotion mechanisms are in the form of Rocker-Bogie and wheels. This kind of locomotion mechanism has weak advantage in subsidence or obstacle terrains. In the paper, a kind of planetary surface locomotion mechanism is proposed, which introduces the wheel and the track. This locomotion mechanism combines the characteristics of high moving speed of the wheels, strong obstacle passing and not easy to sink of the track. In order to improve the moving ability in multi obstacle area, a damping mechanism is designed between the vehicle body and the wheel. According to different planetary surface conditions, the moving strategies are proposed, and the moving performance of the locomotion mechanism in multi obstacles and trench road conditions is simulated using ADAMS software. In addition, the load capacity, in-situ steering ability, straight-line moving ability and obstacle passing ability are tested by the prototype. The simulation and test results show that the moving performance of the locomotion mechanism is fine.