Journal of Astronautics ›› 2022, Vol. 43 ›› Issue (9): 1143-1151.doi: 10.3873/j.issn.1000-1328.2022.09.002

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Design and Verification of the Inchworm like Mars Rover

ZHANG Wangjun, DANG Zhaolong, TAO Zhuo, JIA Yang, CHEN Baichao, PAN Dong   

  1. Beijing Institute of Spacecraft System Engineering, Beijing 100094, China
  • Received:2022-06-19 Revised:2022-07-20 Online:2022-09-15 Published:2022-09-15

Abstract: Aiming at the problems that the traditional passive suspension rover may have in the complex terrain movement of Mars, the inchworm like rover is designed, including subsidence and escape, hill climbing, bottom support and wheel lift design. The key parameters of the moving system of the inchworm like rover were identified, and the key parameter values of different lifting heights of the rover and the displacement value of one inchworm movement period are calculated. The results show that the inchworm like rover can solve the above problems of passive suspension rover. Ground tests and flight tests have been carried out on the designed inchworm like rover, and verified the ability of wheel sinkage and extrication, obstacle crossing and slope climbing. As an example of application of the imitated inchworm rover, the Mars rover Zhurong has successfully undergone flight tests, and its smooth operation on the surface of Mars shows that the design measures of the inchworm like rover are effective.

Key words: Mars rover, Inchworm motion, Active suspension, Ground test, Flight test

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