Affiliations: [a] Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Xiqing, Tianjin, China
| [b] National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Xiqing, Tianjin, China
| [c] Guangdong Key Laboratory of Intelligent Transportation System and Research Center of Intelligent Transportation System, School of Engineering, Sun Yat-sen University, Guangzhou, China
| [d] Xinjiang Laboratory of Perception and Control Technology for IOT, Xinjiang Nor-West Star Information Technology Co., Ltd, Urumqi, China
| [e] College of Transportation, Jilin University, Changchun, China
Correspondence:
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Corresponding author. Dr. Ronghui Zhang. E-mail: [email protected].
Abstract: Suspension design is one of the important parts in the research field on lunar rover mobile system. To conduct detailed dynamic analysis on the new type of suspension, this paper presents a new type of six link double ring lunar rover suspension model based on ADAMS virtual simulation software. And, this paper designs the lunar rover path tracking neural network controller. Simulation and test results show that the new lunar rover suspension has strong ground adaptability, obstacle surmounting capability and anti-overturning ability compared to classic suspension, and the neural network controller based on the new suspension has good tracking ability. The research results provide a reference for autonomous navigation control on lunar rover.
