A six wheeled robot with active self-adaptive suspension for lunar exploration

With the idea of merging the active robot’s configuration function and the self-adaptive robot’s self-adaptive characteristic, a new kind of active self-adaptive suspension and a new type of differential gear body are creatively proposed, then a six-wheeled active self-adaptive suspension robot is proposed. In even terrain, the robot can self-adaptive to the terrain; while in rough terrain, the robot can fit inclined terrain, and can stand up after over-top through configuration change. The virtual prototype analysis and simulation results shows that the mobility of active self-adaptive suspension robot improved greatly.