Experimental measurement and analysis of wheel-ground interaction of Zhurong Mars rover when crossing obstacles

In order to study the wheel-ground interaction characteristics and influencing factors during the obstacle crossing process of Mars rover, the ground simulation test and analysis are carried out with the ' Zhurong ' Mars rover as the research object. A wheel-ground interaction measurement system is designed and developed to measure and evaluate the mechanical interaction between Mars rover wheels and obstacle stones. Aiming at the Mars patrol scene, the experimental scheme including stone height, driving speed and bilateral obstacle crossing is proposed. The effects of the above factors on the energy consumption and obstacle-crossing three-dimensional force of the Mars rover are tested. The test results show that the increase of obstacle height, the acceleration of driving speed and the obstacle crossing of multiple wheels can increase the wheel-ground force value, and the vehicle power and current also show an upward trend. There are also some deviations in the force value and obstacle surmounting performance between the wheels of the same side suspension. In order to quickly estimate the Mars rover state and simplify the analysis of complex ground mechanical parameters and obstacle-crossing process, a simplified model of the Mars rover considering the conventional obstacle-crossing factors is established. The experimental methods and results of this study can provide data reference for Mars surface inspection, and the obstacle-crossing model can provide theoretical support for the optimization of the obstacle-crossing performance and coordinated control of Mars rover.