Suggestion of Rhombus Four Wheel Type Rover with Active Link

Abstract

The surface of Mars and the moon is a rocky area with rocks and a rough ground, where soft sand exists. A future rover is required to have high driving performance for exploration of the crater interior etc. In soft ground travel, the reaction force generated by the deformation of the travel surface is small, and the surface may be excavated due to the rotation of the wheels, making it impossible to travel. In this paper, we focus on the travel of the exploration rover on soft ground, and experimentally verify the effective travel system for soft ground travel.