Design of a high performance suspension for lunar rover based on evolution

In this paper, we propose a new suspension for lunar rover called obverse and reverse four-linkage suspension (ORF-L suspension for short). Its two components are designed based on the evolutions of bogie and rocker. Firstly, we analyze the character of bogie and research the approach to improve its performance. Based on that research, an evolved mechanism of bogie is proposed, named obverse four-linkage. It has better capacity than bogie. In addition an evolved mechanism of rocker is also proposed, named reverse four-linkage. The bogie, rocker and their evolved mechanisms can compose four available suspensions including the interested ORF-L suspension. Because ORF-L suspension is composed of two evolved mechanisms, it has the highest performance. In order to check that, the performance comparison between ORF-L suspension and rocker-bogie suspension are carried out based on simulation. Finally, a prototype rover with ORF-L suspension is designed and manufactured. It shows excellent performance as expected.