Interaction Mechanical Analysis between the Lunar Rover Wheel-Leg Foot and Lunar Soil

Taking the Wheel-leg Foot of the double-half-revolution mechanism of lunar rover as the research objects and considering the mechanics characteristics of lunar soil, the interaction of mechanical behavior between Wheelleg Foot and lunar soil is presented. Based on the press-sinkage and shear model of soil, established the force balance equation of the Foot and the stress model. By setting the parameters of the foot mechanism and the properties of lunar soil, the stress model was simulated. The relationship curves about the sinkage, the structure parameters of foot, the mechanical performance, slip rate and structure parameters of foot are given.